Couple of ways to do it.
https://helpx.adobe.com/acrobat/how-to/ ... -pdf-forms
1) graphics file containing image of your signature.
2) Acrobat digitally signed signature.
For certain types of documents, the digitally signed signature is the way you want to go. RSD, in my experience, has no issue with a simple image of your signature.
If you go image file. You can create one with a pen interface, or even a touch pad on a laptop. Or, scan a clean copy of your signature. Trick there is to drop the noise out of the white background, beef up the black of the signature. Play with the curve balance or other ways. That way when you drop the signature into a document it will look more natural.
LTC / SSC Instructor. NRA - Instructor, CRSO, Life Member.
Sig pistol/rifle & Glock armorer | FFL 07/02 SOT