When showing a read-only version of the submitted record (default behavior), a print button can be shown by enabling Show print button. Open the form directly rather than in an embed to use printing. This allows the end user to open the print dialog where they can choose to either print out their submission, or switch to Save as PDF (or similar) to save the submission as a PDF.
The print layout is not limited to the current page of a multi-page form. It can include fields from multiple form pages; field visibility rules still apply.