You can program your Register to not require a signature when purchases are made under $25: https://squareup.com/help/us/en/article/5149-disable-signatures-for-square-app-payments
You can also skip the receipt screen if you want to: https://squareup.com/help/us/en/article/5684-skip-the-receipt-screen-to-speed-up-checkout
It might be that the customer has previously requested automatic receipts: https://squareup.com/help/us/en/article/5212-automatic-receipts
If you want to skip the screen but still print a receipt, you can do that too. I just didn't find an article addressing it. It should be in the Printer settings.
