We've had this come up several times. What we end up doing is turning on the "Flatten pages as groups" option in the settings of the form, viewing the form with the printer friendly skin and then printing it. This works okay but isn't the best solution. My idea of the best solution would be a print form button which loads the form in a new window with a special skin (could be the site printer friendly skin) and has all of the pages of the form displayed. The user could then print the form using the browsers print dialog as they would any normal page. I'll see if I can put something like this together and post the results here.