A similar questions is asked on this forum
Please see Clay's answer, posted below:
In order to get the print out you want you need to create one more
view specifically for the print out. So you would format it to show
the elements from all of your views and process and format it the way
you needed. InfoPath has some limitations when creating paper forms,
I believe since the whole point is having the form and information
electronic, but you should be able to get what you need for this. You
can also go into the print properties for each view and set your new
print view as the default. That way whereever they are when they print
they get the correct, complete format.
So as he said, create a read-only view and set it as default in Print Properties!
I hope this helps