I want to be able to create a form, then have the completed form print out looking the same as it does on the website; can I do this in jotform? how?

If you need to download the submitted data with the same layout like your web form, then you may customize your PDF report, this way you will be able to add the needed text, images or any additional information that's not displayed on your form. 

This guide will help you with that: https://www.jotform.com/help/384-How-to-Customize-PDF-Submissions-Report 

If you only need to allow your users to print the form exactly as the web form, then you may add the print button, it will use the browser's default print option, here is a guide with more details about it: https://www.jotform.com/help/24-Print-Button-on-Forms 

I hope this helps.