As a company, can you hand write a tax form out of necessity instead of printing?
Yes you may fill the form 1099-misc by hand. You may use the form from IRS website - http://www.irs.gov/pub/irs-pdf/f1099msc.pdf - but may not use this from to send to the IRS.
You must use pre-printed forms - you may purchase them or pick from the local library. The official printed version of this IRS form is scan-able, but the online version of it, printed from IRS website, is not.
But can you hand write pre-printed 1099 misc copies A and 1, as well as a 1096?
Yes - you may handwrite or use the typewriter.
You may also purchase 1099 and 1096 preprinted forms at Staples, Office Max, or other office suppliers.