If you just need the image and don't need the underlying data, you can take a screen grab and print it out.
If you need all the data, you could download Google Earth, which I think still provides the offline functionality you're looking for. http://www.google.com/earth/download/ge/agree.html
To get everything on your device, you can make yourself a map with multiple destinations, then use the gear icon in the lower right corner of Maps to share the link to yourself. From there, you'll get a URL that you can send to your device.