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The only way that I see that you can print the submissions all at once is by doing the following:
1. You can enable the "Headers and Text" to show the images or other text in your form: http://www.jotform.com/help/305-How-to-show-headers-or-text-for-contracts-terms-agreements-in-the-PDF-format-of-a-submission.
Or, you can use the new "Customized PDF" feature, that will let you edit the layout, add text, add images to the PDF layout of your submissions, please note that it will be a fixed design and will be implemented on all of the PDF submissions on that specific form. You can access it under the "Get PDF" in your submissions page.
2. After that, you can download the PDF submissions in groups, however, you cannot download them ALL in one file only. They will be downloaded in groups, I believe it will be 20 submissions in 1 PDF file.
I hope that helps.