Is it possible to allow users to print the form?

- Once they sign the Contract & Invoice, they have two choices: 1. Print and 2. Save. 

With "Save" it will need to be the submit button, but you can customize the text to display "Save" instead of submit, to do it, first click on the submit button and then on the top toolbar you will find the option that will allow you to change the text shown: 

To add the print button you should click on the submit button as well and turn this option on as shown  on the screenshot below: 

Hope this helps.