otp-md5 コマンドの -n オプションに数字を 指定すると、その数字分の One-Time Password が計算されます。
local% otp-md5 -n 20 490 st6167 Using the MD5 algorithm to compute response. Reminder: Don't use opiekey from telnet or dial-in sessions. Enter secret pass phrase: 471: LYON BOLT WORK FEUD COVE FAIN 472: AIDE SAN DISC WIT GENT CLAN 473: BEEF CAME NUDE LAKE ITEM GATE 474: OBEY SIFT WALT WELT OAR JOG 475: AM FACE FAD URGE RAY COON 476: KAHN FELL THEY LENS HELM TRIM 477: ROSY KNIT SOME LIKE CHAT SHOE 478: MARY CUBA SULK DEAR AVID BOHR 479: HOBO BIEN HOLD CODY COT SILL 480: SUDS TEAL ALUM DALE NAB DUE 481: YAP SIN KISS TANK YEA JADE 482: REED GALE AIRY CHIC BALD LEW 483: AVIS RICK RISE OK YEAR DORA 484: KEEN MAO VEDA BOSS HORN STUN 485: HURT DIG WHOM CLAD TEST DOW 486: SACK MAST CHAW DAB OAF HARD 487: BIRD ALMA LAY MASK CAP MILK 488: OBEY THIS GREG PEP LAVA HIVE 489: NAVE HILL BLOC SOWN MIRE PEP 490: JACK STAB ANN DARN ABE WAIL local%
あとは、この結果を lpr コマンドなどにリダイレクトして 印刷すればよいです。