To my knowledge you cannot do this 'after the fact' (not counting copy/paste of the screen by hand).
You could take a look at the script
command. This from its manpage:
Script makes a typescript of everything printed on your terminal. It is
useful for students who need a hardcopy record of an interactive session
as proof of an assignment, as the typescript file can be printed out
later with lpr(1).
In general it is used like this: script -c <command> <outfile>
, but do take a look at the manpage.
Hope this helps.