It is on Page 6 of the menus - you can set date or date with time.
It is not very flexible because
- it will appear on all photos - unless you switch it off and on when needed
- no control of format
- no control of position
- no control of colour.
The alternative is to use software to add the info on those images where you want it.
For example Irfanview allows you to add whatever text (including date and time, as well as location, etc) and save it with the image, or as a copy, or just for printing a one off.
My Gallery is here -