Only if you are using Square POS on an iPad.  Phone version does not have this ability.  To do this you need to go to settings and turn on "Cash Management".  Once you have Cash Management turned on go to Menu / Reports, there you will see cash drawer report.  This is where you will open and close your register.  Note that Cash drawer management only tracks cash and nothing else.  Once you close for the day you can print out the report.  You can also find the report in the Dashboard under sales / Cash Drawer.