Can anyone fill out the form from printing it?

Last question: Can anyone fill out the form from printing itThank you

Yes, it's either you will add a print button in the form;

https://www.jotform.com/help/24-Print-Button-on-Forms

Or, send your users a PDF copy of their submission for them to download and print. Create an autoresponder email;

https://www.jotform.com/help/26-Creating-a-Form-Autoresponder

Enable the PDF Attachment in the autoresponder email;