Unfortunately, there currently isn't a way to produce a PDF that retains the layout of the original form, nor is there a way to print a form in the manner you want.
We apologize for any inconvience that may cause you. This is a fairly common request and on our roadmap.
I also agree, this feature would be very useful. I sometimes need to forward or reply to a specific form submission, and it would be much easier if I could attached a filled-out form response instead of part of a spreadsheet.
I found a way. In the dataset select
the file you want to print as a form. Select
Combine files >> Next >> Assemble into package >>
Use Adobe template (lower right corner under Select Cover Sheet) >> Create >> Save
I just completed this process for 4 of the survey responses I received. I will do this for the rest and combine into a single PDF document for easy viewing.
We now support saving a response from the View Responses tab to PDF (that retains the form design shown on the Design tab). The PDF can be shared, archived or printed using Adobe Reader.
You can read more about it here: http://forums.adobe.com/thread/1085672
Please try it out and give us your feedback.