Is there any possibility Print floor paper WITH image of the component from the DMC or it should be done in the S/4 Hana system ?
Yes, you should be able to define a Print Template with component images and print it from DM.
You can learn more about DM Printing capability at: https://help.sap.com/docs/sap-digital-manufacturing/execution/manual-printing
and check SAP Notes below:
Hope it helps,