It depends on whether you are using the "Web" form or "PDF".
In the web form the "?" will appear as it does in the design view and when you mouse over it will show the help text.
In the PDF the help text is displayed after about 1-2 seconds hovering the mouse over the field.
Is there a way they can print the help text when they hover over the text box?
No, it's no possible to print the help text.