Can you create fillable pdf forms that can be filled using an Ipen or Apple pen

Hi @doorguysy,

Hope you are doing well. Thanks for writing in!

When you say filling forms using an Apple pencil, are you writing the fields through it or drawing data on the form fields? 

If writing data, the feature is already available with Apple's assistive writing technology. More info on how to do so is available here: Enter text with Scribble on iPad – Apple Support (UK)

If you are trying to create a form where users need to fill in handwritten data using Apple Pencil, you can rather create blank spaces for them to fill using either the pen in  the writing modes or simply have them add annotations using the free-hand drawing methods as described here: Modify PDFs — Acrobat for iOS Help

Hope this helps.