Check for your nearest police station here -
http://www.myfbireport.com/locations/index.php
From my experience in CT, I went there paid $5 and they took my finger prints on an electronic device and the device printed it on the FD-258 form. I did not carry this form they had it. So best to check with your nearest police station. According to the FBI website
https://www.fbi.gov/services/cjis/identity-history-summary-checks you can print this form on a regular A4 paper but then you would have to use the fingerprinting ink at the police station.
Again contact the nearest police station and make sure you confirm everything. Specially the timings. in CT they only do it on Wednesdays from 2- 5 PM. Lastly, get this done ASAP. It takes 8-10 weeks for FBI to process your request.