But be prepared for it to initially look terrible. You may have to do some massaging of the MIDI file, as if it
sounds natural, then then timing will
be natural, ie
not perfect. Musescore, or any other app, will see this and display exactly what's been played, so if a note is played a demsisemiquaver (32nd, for those who use those terms) early or late, you'll see that on screen. Multiply that across the whole score, for all instruments, and you might see musical gibberish!
You can quantise the MIDI file using a MIDI File Editor app to bring its timing to a more robotic, 'accurate' nature, and there are settings you can make in most apps to apply some degree of quantisation there, too.
But, whatever you do, there will almost always be some degree of tidying up to do to make a usable printout.
Have fun, and welcome to the mad, mad world of getting MIDI into print!