Yes - in the 'Form' tab, click on 'Print' in the top right. In the 'Print options' dialog window, you can select the section you want to print and indicate whether you wish to include additional details such as help texts and calculation field templates. There is also the option to print each study step on a separate page, if preferred.
Once configured to your preference, click 'Print'. A new page will open, which contains a preview of the printable study form. You can save this page as a PDF by selecting the option 'Save as PDF' from the print options.