is there a way to print an iMessage or sms?

We assume that you are asking about how to print from an iPhone, correct? One method below.....there are other ways I am sure.

Open the message

Take a screenshot of the message

Open Photos and select the image

Click on the square with upwards facing arrow icon at the lower left

Scroll way down on the next page to find the Print command

Other than Bob Timmons suggestion, if you need to do this regularly, get an app for your computer that can print out neatly formatted PDFs of texts. Examples are TouchCopy or iMazing for Windows and Mac, or PhoneView for Mac.

Hello,

If you go to iMessage on an iMac, you can choose 'print' under the 'archive' menu item.

iMessage is stored in the iCloud. If you are logged in on your Mac with the same Apple ID you will see the same messages as on the iPhone.