Create a packing list to print with order form

I am looking to create a packing list that gets printed out with the submission order form when it comes in, based on the fields that are filled out on the order form?  it seems our staff misses something from the current form that's printed out with each order.  Or, is it possible to customize the current pdf to only include the fields that have content in them?

thanks.

You can hide the empty fields in the PDF copy of the submissions. In the form submissions page settings, just check the Auto Hide Empty Fields option: