If you're looking for a blank print out of the survey, the web form of a survey can be printed- it's designed to be reasonably well formatted. Additionally, we've introduced teh ability to create report print outs of survey data - see Print survey results—Survey123 for ArcGIS | ArcGIS and Leveraging Custom Form Report Templates in Survey123 for ArcGIS.
That's exactly what this link is referring to. You can select one, all or multiple participants and generate a report. https://doc.arcgis.com/en/survey123/browser/analyze-results/printsurveyresults.htm