Not directly, as your client already generates data compatible with your printer via the driver. In some cases this can be a binary format not easily reversible. But mostly it's Postscript or PCL which you then can try to convert.
You can use the files in /var/spool/cups
for this.
Some output with file:
d00566-001: PJL encapsulated PostScript document text
d00575-001: HP Printer Job Language data
d00459-001: PDF document, version 1.7
Now, depending on what printer you have you can use ghostscript to convert the file to a PDF. If it's already a PDF you just rename and open it. You also need to try ghostpcl which can convert PCL data to PDF.
Example:
/opt/ghostpcl-9.53.3-linux-x86_64/gpcl6-9533-linux-x86_64 -sDEVICE=pdfwrite -o /home/out.pdf d00575-001