Is there a way to print the submitted form with the text dialog boxes we have on the form.

Basically can we print what the user sees when they fill out the form. We have text explanations that we'd like to print once the completed form is submitted so those reading it also get the explanations 

You should be able to show all the text in your form by following the steps on this guide: How-to-show-headers-or-text-for-contracts-terms-agreements-in-the-PDF-format-of-a-submission

Hope this helps.