The exception can be observed when printing document containing images with unsupported formats, or images with empty source (RawData = "").

The exception is with the following call stack:

   at Telerik.Windows.Documents.UI.HeaderFooterContainer.UpdateUI(SectionLayoutBox sectionBox, Boolean delayed)
   at Telerik.Windows.Documents.UI.HeaderFooterContainer.UpdateUI(SectionLayoutBox sectionBox)
   at Telerik.Windows.Documents.UI.DocumentPrintPresenter.MeasureOverride(Size availableSize)
   at System.Windows.FrameworkElement.MeasureOverride(IntPtr nativeTarget, Single inWidth, Single inHeight, Single& outWidth, Single& outHeight)


Workarounds:

If you click on print preview and print the document from the preview it is working;
     2. Use the following code

        this.radRichTextBox .PrintStarted += Rtb_PrintStarted;

        private void Rtb_PrintStarted(object sender, EventArgs e)
        {
            RadRichTextBox rtb = (RadRichTextBox)sender;
            foreach (var floatingImage in rtb.Document.EnumerateChildrenOfType<FloatingImageBlock>()
                                                      .Where(fi => !this.IsSupportedImageFormat(fi.ImageInline.Extension))
                                                      .ToList())
            {
                floatingImage.Parent.Children.Remove(floatingImage);
            }

            foreach (var inlineImage in rtb.Document.EnumerateChildrenOfType<ImageInline>()
                                                    .Where(i => !this.IsSupportedImageFormat(i.Extension))
                                                    .ToList())
            {
                inlineImage.Parent.Children.Remove(inlineImage);
            }
        }

        private bool IsSupportedImageFormat(string format)
        {
            return (format == "jpg") ||
                   (format == "jpeg") ||
                   (format == "png") ||
                   (format == "bmp");
        }