You can create a Mail-merge template in the Letters and Labels function and put in the form content.
Then use the tag list to auto-populate the fields while editing the template and save it. E.g:
First Name: %FirstName%
Last Name: %LastName%
You can also of course use custom field tags so that relevant info is pulled through.
Once you have finished creating the template, whenever someone completes the web form you can go to Letters & Labels and quickly generate their hard copy form and save it as PDF or DOC, then email it to them.
You can automatically receive email notifications and/or automatically create a task whenever someone fills out the form to remind you to generate the hard copy by adding it as an action to an automated campaign and linking the campaign to your web form.