printing scores from midi keyboard

Well, you can certainly import a MIDI file, and MuseScore will do its best to turn it into something that kind of resembles readable notation, but the chances that it would actually be readable are incredibly low. I gather the program you mention is what is now ScoreCloud, my impression from what I have seen is that it specializes in this and does much better than most programs at it., but the quality of the engraving itself might not be so great. Perhaps a good approach would be to use ScoreCloud to import the MIDI, then export to MusicXML, and then use MuseScore to actually make it look good. Although I guess MusicXML export requires the "Pro" plan.