How to fill out an online form?

A few times a year, I encounter a situation where I need to fill out a form I've downloaded, often in Adobe (.pdf) reader format, sometimes in MS Word. I am able to download and print the form, but to fill it out I would need a typewriter, and who has one of those anymore? I know I could purchase Adobe Acrobat and probably do what I suggest, but the cost / benefit ratio for a few uses a year is a bit prohibitive. Is there any software out there that is free or very inexpensive that would allow me to do this? Perhaps I am just not computer literate enough to overcome this problem. If the question is unclear, please, ask questions to allow me to clarify. Thanks

Is it not possible to fill the form out on the pc then print it?

Or some kind of free .pdf editor? or copy and paste the form text to notepad and edit it there?

MS Paint

Adobe Reader X (free) has an add text function that might meet your needs.