When we make an animation, we usually create a storyboard first. It can be a series of graphics or clips of rough motion. You can create both types of storyboards in Animation Desk.
To make a graphic storyboard, you can draw each shot in Animation Desk. After you are done. Export the file as PDF. You can later edit the PDF file in PDF apps or print out the storyboard.
To create an animatic (a storyboard consists of a series of rough motion), please read this tutorial, Create And Edit Your Storyboard: Add New Panel, Add Notes, Replace A Panel.