I'm glad to walk you through printing out a copy of archived 941 tax forms in QuickBooks Online. You can retrieve them as long as these forms were archived,
Here are the steps you can follow:
Go to Taxes on the left panel, then Payroll Tax.
Go to the Forms column, and then click the View Archived Forms link below the Quarterly Forms section.
From the list of archived forms, find the ones for the selected year.