@Sharon White In addition to the response from @SashaMC , you may be able to print your payroll tax reports from a folder on your computer if the correct option was checkmarked in the past.
When you generate a payroll tax report in QuickBooks, there is a box in the bottom left you can checkmark. This will cause a copy of the report to be saved to a Tax Form History folder on your computer each time you print the report.
It is within the same location on your computer as your company file. There are subfolders within the Tax Form History folder for 941 reports, 940 reports, state withholding reports, and so on.