I really hate dealing with my printer (or any printer for that matter), so I make pretty liberal use of my drawing tablet at this point. I import the PDF into Krita, use the ballpoint pen brush, and sign. I export to PNG, then use an imagemagick script to rotate it some random number between 1-3 degrees, and add noise onto it to look like a scan.
It's a pain, but it's still less annoying than dealing with a printer.
It's a pain, but it's still less annoying than dealing with a printer.