I am not having a problem adding these to the Quick Access toolbar.
Undo and Redo should be there by default.
In the Customize Dialog make sure you do the following.
Click on the Quick Access tab.
I typically set the 'Choose commands from' combo box to All Commands.
You add the commands in the list to the customize list on the right.
When you click on OK, it will prompt you to create a new Theme. Click on Yes.
I can add Print without a problem.
When you try to use Customize, do you have a raft file open.
If a draft file is not open, you will not see all the commands.
Send a screen shot of what you see in customize when you are trying to add commands.