If you have the proper FBI card to put said prints on, then yes, you can do them yourself. However, be very aware if you are not well versed in how to take fingerprints, they will get them, it will take a few weeks for them to even open the envelope, they will reject them for unclear prints or some other such reason, and then send you a letter to that effect along with a refusal or inability to obtain your record and then you can start all over. OR, you can go to a local police agency that can/will do your prints for a small modest fee and ensure they are done correctly the first time around and then wait your 6 weeks to get your return certificate from the FBI.
Totally your choice