It would require InfoPath Form Service, which is part of MOSS 2007 or can be licensed from Microsoft.
You may want to investigate the Database Accelerator Package as it includes a Form Viewer for your server to render the form and it is much cheaper.
The only issue I see is that printing from Internet Explorer might not be what you need. You probably have not tested the form in a browser yet or how it would print. It may be easier to submit it and then someone internal with InfoPath could open it and print it.
Qdabra Database Accelerator Suite Version 2.1 - Developer