Use the latest version of Acrobat Reader to fill forms. Get a free copy here. Instructions for writing on a form that is not fillable and savable are here.
During the Covid-19 outbreak, you may sign a civil court document electronically with “/s/” and your name, followed by your address, telephone number, and email address. You may ignore directions in court forms requiring you to “handwrite” your signature and instead sign electronically as described here.