Thanks for posting, @wpryan5157.
I have some information about printing a filed VAT return. In QBO, you can only print a VAT detail report of your previously filed return. Let me guide you how.
Want more details? Check out this article: File and pay Tax/GST.
Additionally, here's a link that covers all the tasks you can do when using the Tax feature in QBO. Just look for responses that fit your concern.
If you still have questions or concerns about VAT or taxes, please let me know. I'll be here to help. Take care and stay safe.