Step by step instructions on how to print IRS form 941 using Payroll mate payroll software (PayrollMate.com/). Step 1 - Open Payroll Mate Software and Navigate to the 941 Form Screen. Step 2 -Review the 941 Form Generated by Payroll Mate. Step 3 - Print Form 941 and Mail it to the IRS.To print the 941 form, simply click the “Print” button and in the dialog that comes up make your selection. Once the form is signed, mail it to the address in the Instructions for Form 941.