NOTE: The "Give" donation feature is currently only available to US residents.
Yes. To print a receipt, tap Transactions from your home page to open the Transaction History page. Tap the Donations tab, then tap the processed donation for which you want to print the receipt. Tap Print donation receipt from the donation details page.
Note that there may be a short delay between completing your donation and being able to print the receipt. The Print donation receipt button will not become available until the receipt is processed.