As the admin: If you are the creator of the poll open the poll from your Doodle Dashboard, and click the 'more' menu at the top of the page. You will find the print option in this menu.
As a participant: If you are a participant, click on the text-link 'Print' underneath the poll title. Keep in mind that it is not possible to print hidden polls.
In both cases a PDF file will download which you can print.
To view PDF files, you need Adobe Acrobat Reader. The software can be downloaded for free (https://get.adobe.com/reader).