Is there a way to download my text message so that I can print them

If you use a Mac with your Apple ID and you can see your SMS messages there, you can actually make a printout of your SMS conversations. Simply open the message, select File in the top menu bar, and select Print.

If you do not have a Mac, or for example use a Windows PC. Then there are 3rd party programs that can do it. Most cost a little money, but there is usually a free trial period. The most recognized, which I know some have had good experiences with, is the program iMazing. The program has many features, one of which is the option to print SMS messages.

If the two mentioned are not an option, then there is the less practical way. It's quite simple to take screenshots of your SMS conversations, and then print them out.

You can see how to make screenshots here:

Take a screenshot on your iPhone - Apple Support

iMazing is a 3rd party program for MacOS or Windows. It is not available in the App Store.

Note that, iMazing is not free, but has a trial you can use.

Here is a direct link:

https://imazing.com