Hello.
What I will do is create forms that asked for all the information needed in the PDF.
Then when someone submits, this will generate the PDFs filled with information provided by the clients automatically, using the PDFs on the site as the template.
What will happen is when someone makes a submission, there will be an email automatically sent to an email address you specify with the PDF(s) attached)
This way, you can just print the PDFs, which is what you want achieved.
Looking forward to getting some feedback from you soon.
darkwind