You don't have to create a dashboard to generate Test Execution reports.
On any of the Zephyr Scale pages, click the reports button in the top right:
This will bring you to the reports page, where you can run on-demand test execution reports. All the reports can be printed to PDF or exported to excel using the buttons on the top right of the report.
You can also view test execution results via dashboard gadgets in Jira, but I don't think Jira has the ability to generate dashboards to PDFs .