OK, came across this Signature for PDF tool is giveaway on the iOS Store, can directly sign PDF document with iOS devices like iPad, iPhone, iPod Touch (running iOS 4.1 or above) and then send it immediately by Email without having to printing and scanning, seems good, share here:
Signature for PDF for iPhone 3GS, iPhone 4, iPhone 4S, iPod touch (3rd generation), iPod touch (4th generation) and iPad on the iTunes App Store
Signature for PDF for iPhone 3GS, iPhone 4, iPhone 4S, iPod touch (3rd generation), iPod touch (4th generation) and iPad on the iTunes App Store