I spent lots of money several years ago to get a program that allows me to upload a PDF and fill it in right on my computer. I was thrilled to finally have a tool that saved me from printing out the form, filling it in by hand and then faxing it to the recipient. BUT...it costs lots of money. fillanypdf is a free web 2.0 tool that does the same thing and did I say it is free, free, free! Here's a quote directly from their site:
"FillAnyPDF.com is a website where you upload your PDF form and link to it so other people can fill it out and sign it online. No software is needed. Any PDF form can be used, even if it's not "interactive", so you can get started right away. You can even invite a group to fill out your forms and track the results. Anyone that collects signatures or filled out forms will find FillAnyPDF.com to be a valuable time-saving resource."
Try is out by clicking here. I think you'll find it very useful.