If you want to use the BOL that you print based off of your Delivery or Shipment document then no that is not possible via MIGO. MIGO does have ways of printing outputs but they will be based on the Materiel Document and not Delivery/Shipment. You could develop a custom form that attempts to duplicate a BOL but it will have limitations. If you wish to go this route investigate customizing the GR/GI Slips, but that will be an additional development object for you.
Apart from developing a new form you have a few options on how to handle this requirement. Generally if the transfer of products is more than a few miles or on main roads you need a proper BOL and in that case you should be using an STO process that results in a delivery instead of a 2 step MIGO. You can then use this to print your traditional BOL per your standard outbound process. Depending on your needs you could configure the delivery process to be very minimal since it might be introducing additional work for your users anyway.
The other option is to create the BOL offline. If the types of transfers are similar on a day to day basis and the number of materials are small, you could have a word document template that a dock worker fills out and prints when needed. If the volume or complexity is such this does not work i would consider a STO process.