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I'm not sure if understood completely your question, but if you want to print your submissions you could download it first as PDF and then print it.
To get a submissions as PDF you only need to go to the submissions page and click on the PDF -> Download PDF button:
But if you're looking to allow users to print the PDF while filling it out you could simply enable the Print button so they can print the form:
However, you may also provide us more details about what you're trying to achieve, we will be glad to help you.
On behalf of my colleague, you're welcome!
Let us know if we can be of any additional assistance.