Form instructs to "type" answers on the page. Do I have to use a typewriter? Can I just print answer

You can just print the answer out. No need to use the typewriter.

When I was there to apply to have documents authenticated, everyone was telling me that they had been sent back to type their forms. I waited in line because I wanted to make sure I had the right information, but fully expected to be sent away to type my form. However, my handwritten form (for authentication) was accepted. That being said, I write in a sort of leroy lettering, so my handwriting is VERY neat and uniform, and I wrote in all caps.