Hi @MM24,
Happy to help here!
Would an email containing all information from the form submission also be acceptable? You can set up form submission notifications by following these steps. These would land directly in the inbox of the person you would like to notify, as long as they also have a HubSpot user account.
If that’s not an option, this feature can be used for the first workaround: If you receive these emails yourself, you can can print them to PDF. (This is often a default printing option: How to create a PDF: Options for desktop and mobile | Zapier)
Another option would be Zapier. You can trigger a Zap from each new form submission and then create a PDF. One example of how this could look is explained here: Create a PDF with Zapier
Let me know if you have any follow-up questions!