How do I print out my iPhone text messages with dates and time stamps?

That depends on what the court requires. You can take screen shots of the messages→Take a screenshot on your iPhone - Apple Support; those are the closest to the source that is not actually the source. You can also display the messages on your phone for review by the court; that is the source. And you can get a 3rd party app for your computer that can print neatly formatted PDFs of your message threads. TouchCopy and iMazing are two apps that can do this. Whether the court will accept these 3rd level PDFs is uncertain, because PDFs can be edited after creation.