No. You have to print and mail it yourself. Or did you efile?
If you efiled was it Accepted? When you efile you get back 2 emails. The first email only confirms the transmission. The second email says if the IRS (or state) Accepted or Rejected your efile.
When you log into your account you should also see the status and if it was Accepted or Rejected, Started, Printed, Ready to Mail, etc. What does it say?
How to check your efile status
https://ttlc.intuit.com/turbotax-support/en-us/help-article/electronic-filing/check-e-file-status/L9...
If you efiled there should be an Electronic Postmark page. Probably near the end. That is your proof and signature. If you print out your return to give someone you will have to sign it in ink now.
If your return was Accepted or you mailed it, then check IRS Where’s my Refund.
https://www.irs.gov/refunds
