Do you mean a mechanical printer, printing the form as shown on your webpage? If so, then you can read the tutorial here. The tutorial will teach you how to create a PDF file with forms in it. PDF format have a nicer output for the mechanical printer compared to direct printing of an actual webpage..
yes this is too perfect actually, one more thing, is there another alternative instead of pdf output, it will rather display a paper like page or a microsoft word like (not editable, but can be highlighted)