JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
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Though it is not possible to display a prompt asking users to print the form, but you can add a "Print" button in your form. When the print button is clicked, users will be able to print the form. The following guide should help you on how to add a "Print" button in form: https://www.jotform.com/help/24-Print-Button-on-Forms
If you want to print the form after the form is submitted, there are two options available:
#1. You should display all the submitted form field's data in your thank you message so that users can print them. The following guide should help you on how to post submission data to thank you message: https://www.jotform.com/help/201-How-to-Post-Answers-to-Thank-you-Page
#2. You can simply add your submission's edit link in your form's thank you message. Once the form is submitted, user can click on the displayed URL which will redirect them to the same form with submission input data. Clicking on the print button will print the submission. Please check the screenshot below on how to add "Edit Link" in your form's thank you message:
Hope this helps.
Do get back to us if you have any questions.