You can print the Process History report

From the navigation pane please expand:
• Reports
• Double click on All Reports
• Expand Workflow
• Double click on Process History

On the filter and sort selection screen, add a filter:
under the field column select Approval Status, under Comparison Operator select In, under Field Value you have the options of:
> Approved
> New
> Partially Approved
> Parked
> Declined
> Cancelled
> Escalated
> Processed
> Auto Approved
> Auto Declined
> Reassigned
> Unpark / Parking Date Expired
> Resubmitted
> Approved Pending Process
> Approved Processing Started
> Process Ended
> Incomplete
> Process Error
> Paused
> Unauthorised Approver