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Good Morning, @kris27.
Yes, QuickBooks does have a direct deposit form that you can print out so that your employees can fill out, sign, and date the form. Your employees can attach a voided check to provide their bank account information.
Here's the link to print an Authorization form for Direct Deposit. Note: This form is for your records only.
If you need additional assistance with setting up an employee's direct deposit, check out this article for more info.
Let me know if this helps. The QuickBooks Community is always here to have your back. Have a great rest of your week!