@danbjoseph is right that something like a document merge should do what you want. You can export to Excel and use the tutorial he shared. You can make your template document have all the questions from the form and then use placeholders for all the responses.
Since you're in Google Sheets, you may want to look at some of the add-ons out there that let you build documents from data in your sheets. For example, https://chrome.google.com/webstore/detail/autocrat/ppgnklghfnlijoafjjkpoakpjjpdkgdj?hl=en-US seems promising though I haven't tried it.