Create and Fill Out Forms on iPad?

I have recently started a small business, but people must fill out a short form to recieve the item. I sometimes am away from the business when the form is needed to be filled out. I would like to save on ink and paper. So are there any apps for the iPad in which I can create a form and have people be able to fill it out and sign it right there on the iPad? I have downloaded many apps and signed up for many things, but either I can't work them orthe form must be e-mailed to the person. I need an app where I can have people fill it out and sign it right on the spot.