It prints out fairly well: I used the Ultimaker TPU 95A filament, on an Ultimaker 2+. No supports required, as long as you print it upright. I've used the Ultimaker adhesion sheets, because I was a little afraid that it would fall over, due to the upright position. Please note that Ultimaker expicitely states one should not use these with TPU 95, because you won't get it off. Well, I didn't get it off, but that wasn't really a problem for me - I just left it on.
An experienced user will surely be able to get this to work on most printers that print flexible filament, but here I can only tell you how I was able to print it:
Print settings (back when I printed it, it was Cura 2.6.1):
Material: TPU 95A
Layer height: 0.2mm
Raft: No (for the print on the images, a brim was used)