Since an employee's payslip is readily available on his/her Sprout HR account, it can be printed on their own without the need to ask for permission from anyone. Here's how:
1. Under the My Stuff panel on your respective dashboard, click on Payroll, and then below it, click on Show.
2. Select a specific period and click on the View button at the far-right end of the screen to show your payslip. 
3. Once the payslip has appeared, click the Print button located at the upper right corner of the screen.
4. The printing details will show appear and you may change it as necessary. Once done making changes, click on the Print button.
Et voila! You have your payslip.
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