Yes, you can add a Print button. The Print button will show up at the bottom of your form. When clicked by form users, the button will print the form, with the input provided by users. If your form has multiple pages, the Print button will be included on each page.
To enable the Print button, go to the form Editor and click on the Submit button. A panel will open on the left and from Additional buttons tick the box Print, thus adding the button on your form.