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All the fields should be printed by default when you print a form, even when they are widgets, something that is not added by default is the text that you have added to your form, you will need to active this option in order to get the form printed with the same text as it is shown to your users.
Here is a guide that will help you with that: How-to-show-headers-or-text-for-contracts-terms-agreements-in-the-PDF-format-of-a-submission
Do let us know if it helps, if this does not help, please provide us a bit more about what you're looking for, we will be glad to help.