Fill and Sign
Adobe's Fill and Sign is a really useful (free) product for filling in and signing documents. It works slightly differently on different platforms, so on this page, I've linked to a number of videos which should help you.
On a PC
On a PC Fill and Sign is part of the free Adobe Acrobat program. You'll need to download and install that. The following video describes how to use it.
On a Mac
Using it on a Mac is pretty similar to a PC, but here's a video specific to a Mac.