I accidentally discovered if you open up your 1040 form and double click on your penalty amount, the program takes you to a 1040 worksheet where you'll see you'll penalty listed again. Double click on the penalty amount there and then your Form 2210 will appear. You can print out the underpayment worksheet, but if you try to print out the actual form 2210 you'll only be able to print the first page of the form. I don't know why. I'm using a Mac laptop and maybe that's why. Who know, but I had to take screen shots of the rest of the form and print them out in order to have a hard copy of the entire Form 2210! What a pain, but at least you can see how TT calculated the penalty. Hope this helps. In my case I don't have to actually file the form because I didn't need to check any box in part III of the 2210.
