It depends on the definition of "interaction". AFAIU Alice doesn't need to print anything supplied by the attacker. It's enough if she prints anything.
The interaction question is complicated because there are three modes: the most damaging is when the attacker can trigger the exploit directly, since that’s where we start seeing worms and other untargeted attacks. The next level is where the attacker can exploit something the user normally does - hence the question about default printer replacement since that is something the user has done many times before and thinks of as safe. The lowest level of risk would be if they need to get you to click on a different printer: still bad but nowhere near as easy to exploit on a large scale.