If your church uses the free Church Center app and has enabled Check-Ins, just tap the Check-Ins tab at the bottom of the app to start your Pre-Check! Then choose who is checking in that day to get a QR code. When you get to church, find a self check-in station to scan the code, and your labels will automatically print.
If you are a church admin looking to set this up, learn more at https://planning.center/blog/2019/03/family-pre-check-with-church-center