Is there a way I can take a fillable pdf form I have already created and upload it to Jotform?

Unless the fillable PDF was created in the now closed Adobe Forms Central, it would not be possible to convert the form to a JotForm form.  It would need to be manually recreated.

If you would like to recreate on the form on JotForm and need any assistance along the way, let us know and we will be happy to help.