Go to the "File" menu, then "Print." The window that appears will have three drop-down menus at the top.
The first is labeled "Printer",
The second is "Presets".
The third is unlabeled but has "Copies & Pages" selected by default.
Click on that third menu and select "Firefox" near the bottom of the list.

I have tried that and the "custom" option does not exist in the list. The list is as follows: --blank--, Title, URL, Date/Time, Page#, Page#of#

That is the entire list of options, Custom is not in the list even though the Firefox Help shows it to be there. I am wondering if this option is available in the Windows version and not in the OS X version. Thanks for the reply though.

See if this works.

Type about:config in the URL bar and hit enter.

Filter = print.print
There are 6 prefs for headers / footers.
print.print_header... center, left, & right
and
print.print_footer... center, left, & right

You can add what you want in the Value column and then Restart Firefox to effect the change.

This will be a permanent change(until I change it in the config again) correct? Is there any way to add a custom entry for the drop down menu? The reason I ask is that I don't print the same header and footer every time and would have to make this change every time I needed to change the information.

It is a decent workaround and I appreciate your suggestion, if that is the only way to do it I guess I will have to do it that way. Thanks again.