If you e-filed the tax returns there will not be a physical signature on the return. Whomever is requesting this does not understand about electronically filed tax returns.
You can download a PDF of the tax return, sign and date the return and give them a copy of the signed return.
To access your prior year online tax returns sign onto the TurboTax website with the User ID you used to create the account - https://myturbotax.intuit.com/
Start the 2023 online tax return by entering some personal information then click on Tax Home on the left side of the screen.
On the Tax Home webpage -
Scroll down to the section Your tax returns & documents. Click on the Year and Click on Download/print return (PDF)
If you used the desktop CD/Download editions installed on your computer, the only copy of your tax data file and any PDF's will be on the computer where the return was created. TurboTax does not store online any returns completed using the desktop editions.
When you e-file there is no physical signature on the tax form. You sign electronically by entering your AGI or PIN. The people you may be dealing with must be pretty out of touch with how modern tax returns are filed. If they insist on a "signed" copy then print your return, take out a pen and sign it next to the words "Sign here" for them.