I do occasionally, but only as a preview. I usually take them on a USB flash drive to the photo labs to get done properly.
I'd reckon to do it properly at home you'll need:
1) to calibrate your monitor (using hardware calibration tools like spyder)
2) to calibrate your printer (so it matches your monitor)
3) to use the correct colour space profiles in photoshop and on your printer
4) good quality printer
5) good quality ink
6) excellent quality paper
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