JQuery Concat All Input Values

[dday9]

Basically I have 0 or more <div> elements that have the following markup:

<div>
  <header>
    <input class="btnClose" type="button" value="X" />
    <label> New Driver</label>
  </header>
  <main>
    <label>* Full Name</label>
    <input class="txtName" required="required" type="text" />
    <label>* Date of Birth</label>
    <input class="txtDOB" required="required" type="date" />
    <label>License</label>
    <input class="txtLicense" type="text" />
  </main>
</div>

What I'm wanting to do is return a string of each <div> with the label, followed by the next input's value on their own separate line. So if I have 2 <div> and the values are:
David D.
08/12/1991
ABC123

Shaggy H.
01/01/2016
empty

Then the string returned would be:
Full Name: David D.
Date of Birth: 08/12/1991
License: ABC123

Full Name: Shaggy H.
Date of Birth: 01/01/2016

I don't know if it is possible to do it within a few lines or if I'm going to have to loop through each div, then loop through each label and each input.