To change the behaviour of how receipts print, first navigate to home mode, then select manager functions. you will need to be set up with manager privileges to access this menu.
On this screen you will then see a button displaying receipt on/off. Pressing this button will toggle the tills ability to print receipts after each sale has been completed.
The way to indicate which state your receipt printer is currently set to is to check for an icon of a receipt printer in the bottom right corner of screen. If the icon is visible, this means that receipts are set to print after each sale.
If the icon is not visible, that means that receipts are not set to print after each sale.