Hi Rahul,
I dont't know Adobe Forms etc., but if you simply want to print a HTML-Form, you can include a custom css style sheet which will be used if the form is printed via the browser.
Include it this way:
<link rel="stylesheet" type="text/css" href="print.css" media="print" />
In this stylesheet you could set all elements invisible except the form elements, and give the form a style that fit your needs.
To print the page you can use this simple javascript:
window.print()
Hope this helps 
Greets,
Ben