Create a PDF from your InDesign presets and print from that – for your desktop printer choose High Quality Print. If your printer is a duplex printer it should be easy, if it only prints one side at a time it will be fiddly, printing one side then turning over and printing the other side. You'll need to experiment.
Create your booklet as A5 with facing pages. Export to PDF, open with Acrobat and print using the Booklet function. How you actually duplex it depends on your printer. Does it have a duplex printing function?
To print direct from InDesign, you can use File > Print Booklet..., but you'll probably get better results from Acrobat.