You can print a Form Response and specify whether to include empty or invisible fields or not by adjusting the two field toggles. 

For more information on customising Form Response display, please see this article: Viewing Empty and Invisible Form Response fields

Navigate to a Form Response Record 

1. Under the View tab of a Form Response, click the button furthest to the left – Open Print Preview Tab

Make sure you have selected your preference for fields that will be included in the printable version of the Form Response via the toggles to the right. 

2. The browser opens a new tab where a PDF version of the Smart Form Response is made available to print or save.