Yes, with a formula (text)

The way I know gives date/time of print:

create a saved transaction search.

criteria:

type is sales order

system notes : Field is printed picking ticket

results:

system notes : date (summary type Maximum)

available filters:

internal ID

create a custom body field that applies to sales order:

type free form text, non stored

validation/defaulting: your search

create a custom body field for the sales order to store your value, create a workflow that stores the live field to the stored field, and source the stored field on your saved search or print picking tickets page