Hi Jerry
No, but it is very easy to set up using a curve Print Filter.
Use any image that does not have  a filter and go to the filter screen (right click thumb)
Set the end points of the curve to the values required, it's easiest to enter the numbers, rather than dragging, at positions 0 and 16.
See attached screen snaps.
Save the filter with a name you will recognise and then use that for all prints by ticking the P.Filter box, bottom right of the main screen.
Print filters do not show on screen and only affect the print.
To make life easy, include the Print Filter in all your print set-ups (printer, paper, page size, profile etc.) and Save each one, as a "Printer Set-up" for easy re-call.
If you are not sure about any of the above, please ask again.
Terry.

At least with Qimage you can set what you like and use a Print Filter to make it automatic.
I know some users like to set the print clipping points (there was another post on the same lines a few days ago) but is it really necessary?

Correct
With just the 2 adjustments, that is not too bad 

I would not think it is Qimage printing darkly; any other colour managed program should produce the same result with identical monitor & printer profiles and driver settings.
This is more likely to be related to the monitor calibration and the set luminance values and/or the printer profile.
I used to have asimilar problem in that I had to lighten shadows, initially with a + gamma print filter and then later used a +Fill filter. However, since getting a much higher quality monitor the problem has more-or-less disappeared. On some papers I use a +3 Fill Print filter.
I know some users adjust their monitor brightness to match their prints, darker in your case. I prefer to set to a definite luminance value (120Cd/M2) and use an occasional print filter on certain papers. I don't have to remember which, it's all saved as Print Set-Ups
I hope that helps a little.
Terry.