Yes there is.

First, go to the client's portal and open their webform in it. Fill out at least 1 field and click "save and close".

If the form is 'multi-record' then you will see the following screen. Then click on the 'eye' icon.

If the form is 'single record' you will see the following screen:

You can now click on the 'download pdf' button which will create and save a pdf version of the webform to your computer.