hard copy of form

I am not sure what did you mean.

If you want to print your forms, you can create a PDF version of the form.
https://www.jotform.com/help/212-How-to-Create-a-PDF-Form

If you want to print your PDF submissions you can download them by following this guide:
https://www.jotform.com/help/73-How-to-Download-Form-Submissions-as-Excel-CSV-PDF

Let u know if you have further questions.