How-to

How to sign a PDF with Apple Pencil

Apple Pencil is the closest an iPad gets to a pen on paper, and it shows in a signature. There are three ways to use it on a PDF: create a saved signature in Markup, write directly on the page with the pen tool, or let Scribble turn your handwriting into typed text in the form fields. Here's when to use each, from Apple's iPadOS guide, plus how to hand your Pencil to a customer who needs to sign.

Updated November 9, 2026 · 3 min read

On this page
  1. A saved signature you place anywhere
  2. Write straight on the page
  3. Fill in the form with Scribble
  4. When a customer signs with your Pencil
  5. Questions

A saved signature you place anywhere

  1. 1

    Open the PDF in Files

    Tap the PDF in Files. If it came in Mail or Messages, open it there, or save it to Files first so the signed copy has a home.

  2. 2

    Tap Add, then Add Signature

    Tap the Add button (the plus). In Notes or Photos, tap Markup first, then Add in the Markup toolbar.

  3. 3

    Sign with the Pencil

    Sign in the box. Tap Clear to redo it. Label it if you like, such as initials or nickname, then tap to save and place it.

  4. 4

    Place it on the line

    Drag the signature into place and drag a blue dot on its border to resize it. The signature is kept for next time, so later documents take one tap.

Make two saved signatures, your full signature and your initials, each with its own label. Contracts that ask for initials on every page go much faster.

Write straight on the page

Sometimes a saved signature isn't right: a date written in by hand, initials beside a crossed-out clause, or a document that asks for a fresh signature each time. Open Markup, tap the pen tool and write with the Pencil exactly where it belongs. Tap the selected tool to change the line weight, and use black or dark blue. The Lasso tool (between the eraser and ruler) lets you move a signature you wrote in slightly the wrong spot, and the eraser has a pixel mode and an object mode for clearing a whole stroke.

Zoom in before you write

Pinch to zoom on the signature line first. Writing larger and zooming back out gives a neater result than squeezing your signature into a small box at full-page size.

Fill in the form with Scribble

You don't need to put the Pencil down to type. With Scribble on (Settings, then Apple Pencil, then Scribble), write in any text field and iPad converts your handwriting to typed text, on the device. It still works if your writing runs past the edge of the field. Scratch out a word to delete it, and circle text to select it. For a PDF form, tap a blank field and write your name, address or date; then add the signature itself with Markup. In the Preview app on iPad, the AutoFill button fills the fields it recognizes from your contact card.

When a customer signs with your Pencil

Handing over the iPad with a PDF open in Markup works, but it lets the customer wander into your files, and it records nothing about who signed. The SignMaster iPhone and iPad app is built for that moment:

  1. 1

    Start from a template, a scan or a file

    Tap Send for signature and pick a template, scan the paper, or choose a PDF. Add the customer by name and email and place their fields.

  2. 2

    Choose Sign in person

    Send the envelope, choose Sign in person and hand the customer the iPad. They accept the e-signature consent and the app guides them field by field.

  3. 3

    They sign with the Pencil

    The signing pad uses Apple's PencilKit, so the Pencil's pressure comes through on iPad and the signature looks hand-made. A finger works too.

  4. 4

    Take the iPad back

    Signing mode fills the screen and can't be swiped away; only your Face ID, Touch ID or passcode ends it. If you sign next, the app goes straight to your signature.

Everyone gets the signed PDF by email with a certificate of completion that notes the person signed in person. More on the app at SignMaster for iPhone and iPad.

Questions? Answers.

Do I need Apple Pencil to sign a PDF on iPad?

No. Markup accepts a finger too. A Pencil just gives a smoother, more natural signature, especially if you sign often.

Which Apple Pencil works?

Any Apple Pencil your iPad model supports. Apple's iPadOS guide notes Markup works with Apple Pencil on supported iPad models.

Why does Scribble type the wrong word?

Write a little larger and more slowly, and keep to one field at a time. Scratch out a wrong word to delete it, or turn Scribble off in Settings › Apple Pencil if you'd rather draw in fields.

Is a signature drawn with Apple Pencil legally binding?

It can be. Under the federal ESIGN Act a signature can't be denied legal effect just because it's electronic. A Pencil makes it look real; an audit trail is what proves who signed.

Sources

  1. Apple, Fill out forms, sign documents, and create signatures on iPad (iPadOS 27) · support.apple.com
  2. Apple, Draw and handwrite with Markup on iPad · support.apple.com
  3. Apple, Do more with Apple Pencil · support.apple.com
  4. Apple, Enter text with Scribble on iPad · support.apple.com
  5. Apple, Fill out and sign PDF forms in Preview on iPad · support.apple.com
  6. 15 U.S.C. § 7001, ESIGN Act general rule and consumer consent (govinfo) · govinfo.gov

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