Maybe you can spend $1000 to buy an iPad Pro and an Apple Pencil just to annotate pdfs.
Just kidding, you can try Foxit, Edge browser, writing with your trackpads.
If you don't have a printer to print the document, you can align a blank piece of paper onto the screen to see where the text is on the paper, then write onto the blank space and scan that paper. You can then merge the two pieces using photoshop or similar softwares. :)