When I receive a PDF file to be signed and returned I have generally printed it out to sign and scan back in... like an animal, as it turns out. On a MacOS system there is a convenient way to add a signature to a PDF file without needing to print it, using only the Preview.app which comes with the system.
In the toolbar is a squiggly icon with a drop down menu:
Clicking it allows one to create a signature by either signing with a finger on the trackpad, or writing a signature on a piece of paper for the camera to scan in. The camera option does a good job of edge detection to extract only the writing and not shadows on the paper.
The resulting signature can then be added to the document and dragged to the right spot.