Hi, you need to create a form with the full Adobe product, then you open and fill the form on ipad, and save/print.
I can make you a form, i also made this work on android for a friend, myself using ipad, but never tested apps to write pdfs, if you have a name i can make and test this, otherwise ill browse for apps in the morning
PM me the template or your mail, then ill mail you what i need to make a pdf form.
If you have a word document or pdf with out the fields to fill that would be best, i need the highest resolution doc possible.