Old thread, but to save others from trawling the web I have found a partial solution to this with FileMaker 11.
Open your database in OS X and Import the PDF as a Picture into a container field.
Open the same database in Windows and File-->Save/Send Record as PDF.
I found the resulting PDF prints fine from Windows XP/FileMaker 11 printing to an HP colour LaserJet and Samsung PCL printers.
In short, PDF import on a Mac. Save/Send Record as PDF from Windows, Print PDF of Exported record. Not sure what the solution is if you don't have access to a Mac, would be interested to find though.