What is JotForm?
JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
At JotForm, we want to make sure that you’re getting the online form builder help that you need. Our friendly customer support team is available 24/7.
We believe that if one user has a question, there could be more users who may have the same question. This is why many of our support forum threads are public and available to be searched and viewed. If you’d like help immediately, feel free to search for a similar question, or submit your question or concern.
Unfortunately, I do not have an iPad to test directly your form on it; however, I have tested it on a mobile device running Android and I got this window asking me to save the webpage as PDF file:
I was using Google Chrome, could be possible for you to try using Google Chrome?
I think that you should get the same window like the one that I got, here is also an article about printing pages on iPad without installing 3rd party apps: http://www.technoduet.com/save-webpages-as-pdf-in-safari-on-ipad-without-third-party-apps/.
Hope this helps.