How can I print message in Makefile?

It's not clear what you want, or whether you want this trick to work with different targets, or whether you've defined these targets elsewhere, or what version of Make you're using, but what the heck, I'll go out on a limb:

ifeq (yes, ${TEST})
CXXFLAGS := ${CXXFLAGS} -DDESKTOP_TEST
test:
$(info ************  TEST VERSION ************)
else
release:
$(info ************ RELEASE VERSIOIN **********)
endif

$(info your_text) : Information. This doesn't stop the execution.

$(warning your_text) : Warning. This shows the text as a warning.

$(error your_text) : Fatal Error. This will stop the execution.

src: https://www.gnu.org/software/make/manual/make.html#Make-Control-Functions