can these forms be printed

Yes you can, there's an option to where you can add a print button on the live form, here's a guide on how to do that: http://www.jotform.com/help/24-Print-Button-on-Forms 

You can also convert your form to a fillable PDF form, here's a guide that you can follow: http://www.jotform.com/help/312-Fillable-PDF-Everything-you-need-to-know-about-JotForm-Fillable-PDF-Creator 

Let us know if that works.