A point p on a Regular Surface is said to be planar if the Gaussian Curvature and (where is the Shape Operator), or equivalently, both of the Principal Curvatures and are 0.
See also Anticlastic, Elliptic Point, Gaussian Curvature, Hyperbolic Point, Parabolic Point, Synclastic
References
Gray, A. Modern Differential Geometry of Curves and Surfaces. Boca Raton, FL: CRC Press, p. 280, 1993.