Fiat money is, itself, debt. The framers of the US Constitution referred to them as 'debt instruments' and banned their issuance in the Coinage Act. They are obligations of the bank itself, backed up by the "Full Faith & Credit of the United States". When you go work for a wage, the first thing that happens is that the employer is endebted to the employee. The employer then pays the debt by transfering that obligation to the government, via the Federal Reserve bank. They are not called "notes" without reason, just like a mortgage is a "note".
Fiat money does not have to be debt based, our current fiat money system however IS debt based because every dollar that exists came out of the federal reserve at interest.
If the government simply issued the money itself without the federal reserve middle man, they could just print it without having to pay interest on it. We basically rent our money supply from the fed. The government doesn't need to do this, it could just print the money instead of printing the damn bonds.
Bitcoin itself is a fiat currency (as it is backed by absolutely nothing except trust in the system), it is also not debt based. Two very important attributes.
The only thing bitcoin is missing in my opinion, is that the money supply should expand infinitely at around a fixed 2-3% rate a year as Milton Friedman suggested. Since banks will not be able to engage in such heavy fractional reserve banking with bitcoins (because it will be impossible to bailout a 10:1 ratio of loans), the interest rates for depositors in banks will be higher than the inflation rate, protecting the purchasing power.
Money printing is only bad when they start to exceed the amount of products and services in the economy, and the newly printed money chases after the existing products and services in the market, instead of going to create new things such as useful infrastructure.
Printing money to create infrastructure that will be useful (NO BRIDGES TO NOWHERE): Good.
Printing money to recipients that will just use it to buy goods and services with the newly created money: Bad.
Bitcoin is an excellent project, it's not perfect, but it's far better than what we currently have.