Is there a free tool which will let me type onto PDFs and then save, or at least print, them?

Is there a free tool which will let me type onto PDFs and then save, or at least print, them?

I have a large number of paper forms which I need to complete. I'd like to scan them in, then type the answers onto them in the relevant spaces and print them out, rather than writing on them with a pen (my handwriting is terrible).