One label per storage location. Stick a printed label on the bin/shelf — scanning it with Scan Inventory or any QR reader opens Pantry already filtered to that location.
Print at 100% scale — turn off "Fit to page"/"Shrink to fit" in the print dialog, or the code can shrink below a reliably scannable size.
Turn off the browser's "Headers and footers" option so a URL/date line doesn't get printed across the labels.
Scanning from farther away (a high shelf) needs a bigger code — zoom the page in before printing to enlarge every label.
For bins in the basement/garage, a laser printout (or tape/laminate over an inkjet one) holds up to humidity better than bare inkjet paper.