Yes, you can set up the system so it attaches the PDF copy of the form's submission (to the user). Then they can print it - but maybe they need to save a tree or two by not doing so.
or you can set up the auto response email, in a more readable way, with the custom field place-holders. You can set it up as an "HTML" or "plain text" email.
Third option, use the "confirmation" page - just prior to final submission. The user could print it at that point (simply click the "Print" button on their browser).