I don’t know of any UPS from any manufacturer, with any capacity that says it’s OK to to connect a laser printer (or other high-currently device like a kitchen appliance or a sump pump), and I think it’s precisely because of the high current draw and even higher inrush current when it turns on.
As for my UPS switching to battery from the voltage sag, I assume this is its “AVR” (automatic voltage regulation) circuit kicking in. I don’t think it detected an outage during that time. And it only lasts for a fraction of a second.