You can achieve this by using the pros::lcd class. Before printing anything to the screen, you must run pros::lcd::initialize(). Afterward, you can start printing to the screen using pros::lcd::print(line number, format string, format values). The string and format values are the same as using printf. For more information, you can see the documentation on the lcd here,
You should actually be able to see an example of this in the initialize() function in main.cpp, as it is generated automatically when creating a new PROS project.