How can I print a map with my GPS track? I have tracks from a bike tour in GPX format. Is there an easy way to create printable topo maps with these tracks? Waypoints should be visible and labelled as well.

QGIS might be an option, but it's very technical and the print features are limited. Any other suggestions?
Inkatlas lets you create printable PDF maps with GPS tracks and waypoints (on multiple pages if needed). You can select a map style with terrain. Smaller PDFs (6 pages or fewer) are free.

Full disclosure: this is my project.