Key Points:
Adobe Acrobat and Adobe Acrobat Reader can allow users to insert an electronic signature into a PDF document.
If the PDF document was not prepared to accept digital IDs as electronic signatures, users can take advantage of the Fill and Sign option in Adobe to accomplish their task. However, a signature using the Fill and Sign method may not be accepted, so users should keep that in mind.
Instructions:
Alternative Digital Signature
If the PDF document has not been prepared to accept a digital ID as an electronic signature, Adobe Acrobat and Adobe Acrobat Reader both have an option called Fill and Sign that can be used as a workaround.