Nope no standard function built in however there are free services available like qrserver.com that allow you to generate QR code images with your own data.
ex: https://api.qrserver.com/v1/create-qr-code/?size=150x150&data=mydatahere&ecc=L&margin=10
Relatively straightforward to add an extra button which create a QR code with the link to that particular form by updating your manage_forms.php (latest version look around line 880 to add in your own button) or if you have already tapped to the footer to include your own JavaScript you can add a link for that as well.
Very simple php version would look something like:
<?php if(!empty($_SESSION['mf_user_privileges']['priv_administer']) || !empty($user_permissions[$form_id]['edit_form'])){ ?>
<div class="form_option_separator"></div>
<div class="form_option option_expandable">
<a href="https://api.qrserver.com/v1/create-qr-code/?size=150x150&ecc=L&margin=10&data=<?php echo urlencode($mf_settings['base_url']."view.php?id=".$form_id); ?>" title="QR Code"><span class="icon-exit-down"></span><span class="option_text">QR Code</span></a>
</div>
<?php } ?>
Obviously you can make it neatly downloadable instead of opening the image or open a modal to tweak settings before generating the QR Code. Sky is the limit.