Printing and saving form submissions is a breeze. Start by navigating to the Action Center for the organization hosting the form. Next, choose the Forms tool from the organization's tool drawer.
Click on the form for which you want to print or save submissions. Next, click the Submissions icon on the right side of the page.
By default, this displays all pending submissions. Use the dropdown above the submission list to change this to approved or denied submissions. To the right of each submission is a printer icon. Click this and you'll be provided a PDF of the submission. From here, click the Print button and choose to send the PDF to a printer or save the file as a PDF.