Free PDF editor
Use the free online tool PDF Escape to quickly edit any content or add text/signatures to PDFs. You don't need to create an account.
Click Upload PDF
Change to Edit mode at the top
Click on text you want to edit. Or insert text using the tools in the left navigation.
After you're done, print or download using the buttons in the left navigation:
Adobe Acrobat also has a PDF editor program for a subscription.