Hi Viperlady, great question! There is not a way in the phone to send or print text with the date, but you may want to try searching for an SMS application in the Market. There are several that have different functions, and one may have this ability.
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Look in the Android Market from your phone. PrinterShare is a great app for printing just about anything from your phone but it does cost about $12.95 but is well worth it if you like printing a lot of stuff. Check out this link:
I've been using Printer Share for about a year now and it works great with my HP PhotoSmart printer. It prints most anything including texts but I don't remember if it showed the date and time on them. I'd print a test text now to check but I'm out of state right now.
I just printed on my hp photosmart fax premium all in one a text from verizon via bluetooth. It does show the date but not the time. I did this in the printer share app from the phone and selected the messages. I would like to figure out how to print directly from the message, if it were possible it might show the date from there.