Online forms, digital signature and approvals

I am not sure if the process below is even possible, however I will put it out there for your thoughts.

We are a not for profit that is trying to digitise a process that has previously been a 'print document, sign, scan, post or email' process.

What we need:

- An electronic form that includes contact details, larger narration fields, multiple choice fields (radio button style) etc.

- To be 'signed' by 4 individuals - many of which do not have access to touch screen

- Submitted to us

- The document is considered by 4 users who then provide approval (or otherwise)

The key elements/challenges

- Digital signatures where touch screens (even smart phones) are not always available

- An approval process that is more than emailing back and forth

- A print version of the form should be

I appreciate your thoughts and suggestions.