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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I suggest you create an autoresponder for your form.
To learn how to create an autoresponder, please check this guide: Creating-a-Form-Autoresponder
After you have created an autoresponder, enable the PDF Attachment option under the Advanced tab of Autoresponder Wizard.
Your respondents will receive an email once they submit your form successfully to the email address they indicated in the email field in your form as explained in the guide above. With the said option enabled, the email they will receive will include a PDF copy of their submission that is available for download.
Here's a sample form that you can try to fill up and submit.
I hope this helps. If you have any further questions, please do not hesitate to get back to us and we will be jubilant to help you.