Assuming that printing money automatically leads to inflation is assuming a lot of things such as all actors constantly making decisions based on the total supply of money, factories running at 100% of their capacity, the money being reinjected into the real economy and a ton of other over simplifications.
To the best of my knowledge, there is no serious work proving the existence of a direct cause-effect relationship between money printing and inflation in the real world. (Using historical data instead of an oversimplified model)
Actually, the euro zone increased its money supply by 5 since the 2000s, prices have only been multiplied by 1,4.
Hyperinflation is a different story, but those things are not caused by printing a few trillions.