Yes, simply print a label from your My Orders.
Every service has different labels, some labels contain barcodes and others do not. When you get a quote you will be able to see which services require a printer.
If you are sending your items outside the EU you will also require custom documents, these will be provided in My Orders.
Do not hand your parcel to the driver without labels as this can lead to severe confusion regarding your collection and result in lost items.