Once a form is completed are you saving the data to a file or database? If so, then in crystal reports, add the fields from the database and print.
You might want to find a copy of 'Crystal Reports for Visual Studio .Net', 2nd edition from Wrox. It will take you thru the steps of how to create your report and print it.
Even if you aren't using adatabase to hold customer info, you can capture the info to a file and use that file as a data source in crystal reports.
Or does your client want to see a "form" as part of the printed document. If this is the case, I'd try to talk them out of it, as it isn't neccessary, doesn't look professional and can be a waste of toner or ink to print all those buttons, frames, etc.
BTW Crystal Reports .net is included with VS .net 2003.