Article I, Section 5 of the US Constitution says: “Each House shall keep a Journal of its Proceedings, and from time to time publish the same, excepting such Parts as may in their Judgment require Secrecy.”
The same section lets a minority put every member’s vote in writing. The yeas and nays “of the Members of either House on any question shall, at the Desire of one fifth of those Present, be entered on the Journal.” Today, “the Speaker announces his or her approval of the Journal at the start of each legislative day.” “In current practice, approval is automatic unless a Member demands a vote.”