What's the workflow? Do you already have blank forms in PDF format that you want to use, or would you want to lay out new ones from scratch?
Do you want to save the filled-in forms digitally (so that you can search them, for example) even if they're not signed, or is it only the signed paper copy that matters?
I imagine you could have a single desktop host connected to a printer, that supports one or more iPads. You can modify the forms centrally (perhaps even from an iPad). You can bring up any form on an iPad, and when you're done filling it in, the digital copy gets timestamped and stored centrally, and printed.
You would get the best user experience with a custom app. You might hire it done, and maybe even turn around and sell it on the App Store and make a profit.