After some more searching, it looks like Family Tree Maker 2012 will do this (they call it an "extended family tree", but it will print everyone in your tree, with all of the generations lining up correctly), although I'm told that it may include an individual multiple times in order to avoid lines crossing.

www.ancestryprinting.com will print it on a single sheet of roll paper - and they'll even design the chart for you from GEDCOM (for a fee) so that you don't have to buy Family Tree Maker.

I have no association with either - just passing along what I find....