While this is not an out-of-the-box feature, it does not mean that Adobe CQ cannot perform this use case. One of the most powerful features of AEM is the ability to develop custom services.
You can create a custom AEM service that creates and modifies PDF documents. For example, consider a use case where a user submits data to Adobe CQ. A custom service creates a PDF document, writes the data to the newly created document, and saves the PDF document in the AEM Digital Asset Manager (DAM).
|A custom AEM service persists a newly created PDF document in the DAM|
This development article walks you through the process of creating a custom AEM service that is able to perform this use case by using Apache PDF BOX API. For information about this API, see http://pdfbox.apache.org/.
To read this development article, click http://helpx.adobe.com/experience-manager/using/creating-custom-experience-manager-pdf.html.