The responses are saved automatically in the Response Table.
You can download a single selected row as a PDF Form by clicking on the "Save as PDF" button in the View Responses Tab (paid feature).
You can export the whole table as a Excel table (or PDF document) with the "Save as Excel" button (free feature)
You can then print from Adobe Reader or Acrobat when you open the PDF or from Excel when you open the xsl file.
Hope this helps