If you have a macOS computer, see -> How to forward SMS/MMS text messages from your iPhone to your iPad, iPod touch or Mac -> Forward SMS/MMS text messages from your iPhone to your Mac or iPad – Apple Support (UK)
or you can Use Messages on your Mac.
See also -> Set up iPhone to get SMS messages on Mac
Set up iPhone to get SMS messages on Mac – Apple Support (UK)
It is not possible to a Windows OS computer.
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If you want to print text message:
If you have a macOS, see the Apple articles below:
Use Universal Clipboard to copy and paste between your Apple devices
Use Universal Clipboard to copy and paste between your Apple devices - Apple Support
How to forward SMS/MMS text messages from your iPhone to your iPad, iPod touch or Mac
How to forward SMS/MMS text messages from your iPhone to your iPad, iPod touch or Mac – Apple Support (AU)
From the Mac, you can just copy and paste the text into Pages then print it out, or Save as . . .
Finder -> Apps -> Messages -> select a messages -> copy -> paste to xxx.
If you have multiple messages, you must select, copy & paste per message.
You can also use a 3rd party app (for macOS and Windows OS), such as iMazing.
It's a paid app.
There are also other 3rd party paid apps available.
