To generate PDF report for a particular policy, go to Compliance > Policies and click on 'Generate Report' option under the particular policy.
If you wish to generate a report for all the policies please go to Reports > Compliance Report and click on the PDF icon on the top right corner of the page.
You can also choose the device groups, for which you want to generate this report.You can also create a periodic schedule for compliance check and a report will be sent to you whenever the schedule runs. Click here to know more about how to schedule periodic compliance check.