JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
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Yes, you can add signature field to your form.
You can use Smooth Signature widget or E-Signature widget. Inside of this guide you can find how to add widget to your form: http://www.jotform.com/help/252-How-to-Add-a-Widget-to-your-Form
Hope this will help. Let us know if you need further assistance.