You just print your name, yes. Your signature can technically be anything. My father just signed his initials for everything and I did also for the longest time. As long as you're consistent about what you write, it's not usually a problem. Some people who are not literate will still just write "X"
Most stuff that you're signing also requires some form of ID, social security number, etc so it's not like someone can just forge documents by writing your initials.