You indicated that you were open to wargames and other types of boardgames, so for a fantasy (but not dungeon-crawl) experience, I really like the Game of Thrones boardgame, especially if you are a fan of the books (or, now the series, I suppose). But fandom is not required for enjoying the game. In fact, I have seen things go the other way, where someone becomes a fan of the source after playing the game. I'm not sure of the current in-print status of the game, but I imagine with the series being very popular, the folks at FFG won't let it languish out of print. And you can play up to 5 without any expansions.
How many friends do you have? If you don't have very many, this great 2-player game offers the best dungeon-crawl experience I've ever had in a boardgame. It's tense, tight, and atmospheric. Most games are complete nailbiters, with the outcome riding on a razor's edge until the very end. And it's quick, too. If you have 3 friends, you could play 2 games in an "after dinner" timeframe, and everyone would get a turn.
Ok, it's not a dungeon crawl. But it is an RPG-derived trip through a confined location filled with monsters! This one-against-all Call of Cthulhu is my favorite "RPG-Lite" boardgame experience. I've been though a lot of games in search of one that would offer some of the goodness of an RPG without all the prep and time commitment, and this one is the winner to-date. Customizable characters, customizable scenarios, great miniatures, beautiful maps...just turn the lights down, put on a somber soundtrack and prepare to go insane and be devoured! This game has left Arkham Horror gathering dust on a shelf for my group.
Another 2-player wargame, BattleLore brings the outstanding system behind Command and Colors: Ancients and Memoir '44 to a fantasy realm. Battles are fast-paced, rules are simple enough to learn and teach in an evening, and once again, I've played it twice in a row in a reasonable time. Frequently, we'll switch sides after the first battle and try again. I haven't played the Westeros-themed version yet, but it's on my wishlist.
If what you're looking for after dinner is some simple silliness, try Munchkin. This RPG-parody card game is packed with RPG tropes, inside jokes, and backstabbing. Fair warning: Munchkin seems to be a matter of taste - even more than most games. Some people hate it. I played (and bought) tons of it early in my boardgaming career. But it doesn't see much play these days.
Sorry, I see that I totally failed to address the print-and-play aspect of your question. I'm not much in that world, as with both glue and hobby knife I represent a danger to myself, my furniture, and any unfortunate bystanders. So I will take the easy way out and refer you to the BGG catalog of PnP games and the wisdom of many others.
If you set the category to Fantasy and the sorting to rank, the top entry is Song of Blades and Heroes. If you sort by average rating instead, the item Dungeon Crawl popped out at me.
I hope you find something in here that suits you!