I found this issue on this board but the discussion went off topic and started talking about functions and features that are not directly related to the issue. So I am re-asking the question.
Canvas allows instructors to mark up a PDF submission, but I can find no way to print out the submission with the comments. It includes the tags but not the comments (vs. MS Word wherein the comments are included in the margins.)
The awkward and clunky workaround is to do screen grabs, and that is a massive pain.
If this is simply a limitation of functionality in Canvas' relationship to Adobe, so be it. I will just tell my students not to upload PDFs. But I would like to know if there actually is a way to print comments.