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Where have you opened up the printer to look for the missing envelope? Front? back? how about the cartridge bay, from which you generally shouldn't pull jammed paper or envelopes, but it may show up there if you look.
What error message and code (if any) is showing on the printer at present?
OK. As simple as that... I'm preparing your answer. Just a minute more...
Try turning the printer Off, wait 15 seconds or longer, then turn the printer On again. The paper may eject of itself as the printer initializes. This is one of the models that does that fairly frequently.
OK. Not so simple then.
Support information for this model does not include any view of the back.
If it has an auto duplex feeder in back, press down on the pinch-tab, and pull it back out of the printer, freeing up the envelope to be removed.
If it has a rear hatch, pop the rear hatch loose, and similarly remove the envelope, hopefully.
Can that be done? or is this a model with a solid back?
Then unfortunately, you may have to take the printer to a shop, and have techs there extract the crumpled envelope from the difficult-to-reach space it is in, with forceps or other long thin extracting tools. I'm sorry to say that, if there's no hatch-with-a-catch in back of the printer, then that's about all that's left to do.
After the envelope is extracted -without damaging the printer! - the thing to do then might be to clean the feed rollers in the printer's paper path. Having things get jammed or crumpled when jammed, is often a thing that happens when the paper path feed roller surfaces get old.
(How old is the printer?)
You can do the paper feed roller cleaning yourself - no need to hire that part out - if you would like to have some instructions on how to do so before this case and question comes to a close. ?
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Here are instructions for cleaning the rollers in your printer, which may help prevent this problem from recurring:
Since the problem might possibly be owing to aging roller surfaces (for paper is fed into faxes and printers with rubber or plastic cylindrical rollers, that propel the sheet into or through the machine)... then you might need to clean the rollers in the problem area where feeding is not happening.
Remove all paper from the machine, unplug it, and open it so as to have access to the rollers in the problem area where feeding is not being done properly.
Take a clean high-quality lint-free rag cloth, moisten it with rubbing alcohol, and rub the rollers firmly all over their paper-contacting surfaces, three times over.
(If the rollers are hard to reach, there is another way to clean them... let me know if that is the case, and I will detail how to do the cleaning.)
Allow 5+ minutes for drying-off, then reload the paper, close up the machine where you opened it up, and then try again.