I assume that you mean the Web Vault (vault.bitwarden.com). You can create a plaintext export of your passwords by using the side-navigation menu to go to Tools > Export Vault (Werkzeuge > Tresor exportieren), then selecting “My Vault” (Mein Tresor) as the “Export From” option (Exportieren ab) and “.csv” as the “File format” option (Dateiformat), and clicking Confirm Format (Format bestätigen). Next, you will see a “Confirm Vault Export” prompt (Tresor-Export bestätigen), where you have to enter your master password and click Export Vault (Tresor exportieren). At this point, depending on your browser configuration, the export file will either be automatically downloaded into your Downloads folder, or you will be presented with a “Save As” prompt (to specify the final location of the downloaded file).
You can use any spreadsheet app (e.g., Microsoft Excel, Google Sheets, LibreOffice Calc, macOS Numbers, or WPS Sheet) to open the exported CSV file, which will display your login credentials (and secure note items) in a tabular format. From there, you should be able to print or save the spreadsheet as a PDF (although you may want to first delete some unimportant columns and format everything nicely).
I should warn, however, that exporting your passwords in plaintext format is risky. In addition, routinely using the Web Vault (instead of the Bitwarden browser extension) is not recommended, and increases your vulnerability to security issues.