If you are creating custom module then you can delete the action from Product form Print option.

Try this:

<delete model="ir.actions.act_window" id="mrp.action_view_mrp_product_price_wizard"/>

Add this code in your xml file and update your custom module.

If you are not creating custom module and want to change in core addons then go to mrp/wizard/mrp_price_view.xml for view and mrp_price.py for object. If you only want to remove action comment <act_window name="Product Cost Structure" window and then update mrp module.

Have a look at Product Cost Structure.