is it possible to customize the Contact Print Summary? I would like to select the fields to be printed and manage the print templates by inserting for example the organization logo and the footer.
I don't think you can do this. The Print Summary action just displays what is on the Summary tab and I don't think you can customise that.
If you want to get specific fields you would have to use a report or a search to customise the fields printed. The report would also allow you to customise the header.