I want to download or print off submissions and comments received

I want to download or print off submissions and comments received from responders electronic signatures 

You may download your submissions in the submission page.

Guide:https://www.jotform.com/help/73-How-to-Download-Form-Submissions-as-Excel-CSV-PDF

You can include your submission as a PDF document in your notification

Guide:https://www.jotform.com/help/503-How-To-Include-Submissions-As-PDF-Attachment-In-The-Email-Notifications

Please give it a try and let us know if this fits your requirements.