Almost any digital camera would suffice for this purpose. Something with
3 megapixels is more than enough, unless you intend to blow up the image
for putting on a wall.

You don't need a tripod if you're taking shots outdoors, unless it's at
night time. Available light should be more than adequate with any
camera.

This is the only key factor...you need to be able to print quickly, so
the camera should have a removable memory card to use on a computer, or
be able to print directly to a printer.

Do you have a budget or any other needs?

For the buyer, or for your records or display? Think about a cheap
Polaroid. Nearly foolproof and probably not any more expensive in the
long run, considering printer supplies. We used to shoot the crooks
with Polaroid and almost never had a re-do.

Otherwise, any 3.2 MP P&S should do the job. Although I think the
whole digital-to-paper process would be more trouble than it's worth
in (what I imagine) is your situation.

Say, are you a car salesman? Do I really want to help you?