There may not be a 'form' for printing efile status, but you can always print the screen by using the Ctl-P (holding down the control button and pressing 'p' key) to print the screen.
You can open your return in Forms mode and print the summary.
You can print this page and click on efile history at the bottom of eac return https://turbotax.intuit.com/tax-tools/efile-status-lookup/
And in the program check here, don't know if you can print this
In the Desktop program open your return and go up to menu item
File > Electronic Filing > Check Electronic Filing Status
You don't have to print the full return. Look through the pdf file for the Postmark Report showing the date/time the tax return was e-filed and the date it was accepted by the IRS.