Is there a way to print a global list of all contacts and their contact information and show which client/matter they are associated with?

I need to print a list of all contacts along with their contact information.  I'd like for the report to also show what client/matter each contact is associated with.  This is not the same as printing a report for the client's contact information ("Contact Info" tab).  This is the contacts added under "Information" and then "Contacts" in a matter.