How can I setup my Autoresponder to send to the email that was entered by my customers?

2- After my clients complete the agreement, do they receive a completed copy via email? If not, is there a way I can have a completed copy sent to them when the agreement is completed?

If you have an Autoresponder in place then your users/respondents will get an email after submitting the form.

Complete guide: Creating-a-Form-Autoresponder 

I'm seeing you already have one but the Recipient is incorrect. You need to ensure that the Recipient Email field on your Autoresponder is an actual email.