JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
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Yes. You can print the submission data in the View Submission panel.
User guide: How-to-View-Form-Submissions
Or if you meant printing the form itself with the user's answers on it, you can follow this user guide for the workaround.
User guide: How-to-Print-the-Form-with-the-Users-Data
Hope this help. Let us know if you need further assistance.