Hi John,
Can you please elaborate your issue, exactly what you are trying to do?
Do you want to print the form or you want to convert that form to PDF?
If you want to create a pdf of that form using PDF Printer, you need to have Acrobat software installed on your computer.
Please refer to this KB doc. Acrobat Help | Converting web pages to PDF.
Else if you want to simply print the filled PDF form, you can print using Ctrl + P shortcut key.
Regards,
Aadesh