This isn't the best workaround for it, and it's definitely something that kind of annoys me. I'm not sure if you can still access the Legacy layout. If you can, you can do the same thing: press 's' while you're in that order. That's the only shortcut I know for sure to create+print the order while in the order details screen.
You could also hit Esc and then 'S'. That might do the trick.