Fillable Application

I work for a funding company, but as an independent contractor. I'm building my website, which is mostly done. However, I need to create a fillable form with signature online. I'd like that form to print onto my company's pre-existing form if that makes sense.

Otherwise, clients will have to download the pdf, fill out and email back. I'm trying to make this as seamless as possible.

Google has not been my friend today. Any advice will be appreciated.