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 it is possible. Firstly, for customizing your PDF output you should go to your form's submission page and select Customize PDF.
From here you can add/remove fields, add photos and text to customize yor PDF output according to your's and your clients' needs and wishes.
After you are done customizing your PDF output, you need to go to Edit Form > Email's tab and from here on you should turn on PDF Attachment option from Advanced tab for your Autoresponder and Notification emails.
If you have any further questions about this matter we would gladly help you.