Navigate to the form you wish to print and tap on it.
Tap on "Open".
Tap on the "Print" button.
From this point onward, printing is done by your device, not the app.
If the form is a draft (shown in amber), you will first need to issue the form.
Make sure to sync your device to recently issued drafts.
If the form is not showing on the device, be sure to tap the "Download All" button to retrieve older records.