Is there a way to make different memberships levels with different prices in Paypal?

I have several different membership levels with different prices in my form. Is there a way to automatically fill in the payment amount for PayPal depending on the level they have chosen?

Yes, there is a way. Here is how

http://www.jotform.com/help/166-How-to-setup-a-recurring-payment-option

Please check this demo form I just made for you http://form.jotformpro.com/form/42535863726967