The selling point of hardware wallets is that they do the signing for you, in an assumed safe sandbox.

I believe to make an analog with paper, you would:

- Spin up an offline VM with some bitcoin wallet software capable of doing offline signing.

- Import your private key

- Import the transaction data in a controlled matter, e.g QR code

- Sign the transaction

- Transport the signed transaction back to an online device in a controlled manner, e.g QR code

- Publish the transaction with the online device