Is there a way that I can print my filled-in form to look like the format it is designed?

If I understood you correctly you want to print submissions of your form which will look exactly the same like your form. If that is the case you can achieve that with adding print button on your form. That can be found on the submit button properties when you click your submit button. Here's how:

http://www.jotform.com/help/24-Print-Button-on-Form

Please try this steps

1. Go to the your form submission page.

Inside of this guide you can find out how to view submission:

http://www.jotform.com/help/269-How-to-view-Submissions 

2. Inside of submission page, click on the EDIT button on top 

3. While you are on the Edit mode, click on the Print button of the your form.

4. Print and follow the print dialog/instructions.

This should give you a print output with layout similar to your form.

Hope this will help. Let us know if you need further assistance.