The main reason is probably that a C++ string is a struct that includes a current-length value, not just the address of a sequence of chars terminated by a 0 byte. Printf and its relatives expect to find such a sequence, not a struct, and therefore get confused by C++ strings.
Speaking for myself, I believe that printf has a place that can't easily be filled by C++ syntactic features, just as table structures in html have a place that can't easily be filled by divs. As Dykstra wrote later about the goto, he didn't intend to start a religion and was really only arguing against using it as a kludge to make up for poorly-designed code.
It would be quite nice if the GNU project would add the printf family to their g++ extensions.