A way to fill in the form as though it had been done online is to use MS Publisher (or other program that lets you position frames of text). Use a ruler on the printed PDF, measure where you need to print info, then create frames in a blank document with the text for the form. Print the text in the frames, hold it up to the light on the printed form, note corrections, adjust frames, repeat until the framed text lines up just right on the form. Then put the printed form in the printer, and print the text right on it. I did this for a California Court form (Trial by declaration), including a traffic diagram I did in Paint, and got my ticket rescinded. It's not super quick, but can produce professional looking results. Good luck!
Fred Wagner
KQ6Q@arrl.net