First change _printf to printf and the _start symbol to main, then use gcc to link the object file, which will automatically link it to libc, you need to do that because AFAIK you can't link to libc without a main. Also you should use elf32 not elf64 when assembling because the code has 32 bits instructions :
bits 32
extern printf
global main
section .data
message db "Hello world!!", 10, 0
section .text
main:
pushad
push dword message
call printf
add esp, 4
popad
ret
And build with:
nasm -f elf32 vaja4.asm
gcc -m32 vaja4.o -o vaja4
$./test
$Hello world!!
Edit:
Since you're now compiling 32-bit code on a 64-bit system, you will need to install the 32-bit version of the libraries
apt-get install ia32-libs