Workaround: In the case of DateTime columns one can handle the PrintElementFormating event and change text of the print elements with the required format string
private void RadGanttView1_PrintElementFormatting(object sender, Telerik.WinControls.UI.GanttViewPrintElementFormattingEventArgs e)
{
    if (e.PrintContext == GanttViewPrintElementContext.DataCell)
    {
        DateTime date;
        if (e.PrintElement.DrawText && DateTime.TryParse(e.PrintElement.Text, out date))
        {
            e.PrintElement.Text = string.Format("{0:D}", date);
        }
    }
}