Yes, your examination results need to be recorded on a DOT Medical form by a certified licensed medical examiner. This includes a doctor of medicine (MD), physician assistant (PA), advanced practice nurse (APN), doctor of osteopathy (DO) or doctor of chiropractic (DC).
Most doctor offices have these forms. However, just to be sure, you can download your DOT medical exam form from various sources on line (including the federal government) and take it with you to the doctor's office.
You must pass the DOT physical in order to qualify for a CDL as your health plays a pivotal factor in driving safety, especially considering the vehicles you'll be driving.