If you're willing to shoot in the Postcard mode (only about 2 megapixels, throwing away the other 6 megapixels you paid for), see pages 70-72 of the manual: http://www.fixya.com/support/p10213555-canon_powershot_a720is_8mp_digital_camer/usermanual-9481E60-pdf
However, the date and time (and a lot more) are stored with every picture in its EXIF metadata. Any photo viewing/editing program should be able to display this data. To print this data, please consult the documentation for whatever program you're using to print your pictures. Depending on the program and printer you may print the date on the image, in the margins, or on the back.
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