Like others I would suggest you try printing without a "printer" frame first. I've visited assembly shops in Shenzhen which have the fancy printer (like that TK3245) but don't use it except on very rare exceptions, as the setup time isn't worth it. With a bit of practice you can just line up the stencil on each board and print.
A good quality squeegee may be more important
Having printed many thousands of boards both ways, I would disagree that the manual printer takes long to setup, or that it takes longer than a frameless stencil taped to a desk.
If you tape the board down, you have to tape some PCB scraps to make a frame, line up the stencil manually and tape it down and paste - then do the same for the other side.
The printer gets rid of all the taping and lining up hassles. The only extra work is putting the pins in the base to support the board, but this doesn't take much time at all.
Cleanup is easier with framed stencils since excess paste is contained.
If you are printing 1 or 2 boards at a time and neither method is already set up, I'd say it takes the same amount of time. If you are doing more than 5 or 10, the actual stencil printers linked are faster. If you're doing 0603 sizes or QFN's, a real stencil printer makes it much easier to align and get repeatable/accurate results, too.