How can I make grep print the lines below and above each matching line?

Use -B, -A or -C option

grep --help
...
-B, --before-context=NUM  print NUM lines of leading context
-A, --after-context=NUM   print NUM lines of trailing context
-C, --context=NUM         print NUM lines of output context
-NUM                      same as --context=NUM
...

grep's -A 1 option will give you one line after; -B 1 will give you one line before; and -C 1 combines both to give you one line both before and after, -1 does the same.