I’ve done it both ways. I have a love/hate relationship with Layout, so I can argue either side, but if all you’re doing is printing out a single view from SketchUp on a piece of paper, Layout can do that well with little trouble. My problems with Layout emerge when the drawing starts to get complicated, but if all you’re doing is placing a view on paper and printing it - that’s easy.
I’ve done it the other way too. In SketchUp you can draw a rectangle to scale for the paper size you’re printing to and print straight from SU to paper or PDF. This post shows doing a multiview (plan, section, and elevation) drawing directly in SketchUp for Schools which doesn’t have Layout as an option.