Can I create a document that can be signed on a touch pad w/o certificates?

I want to create a document that can be signed using a touch pad. I do not want to have to use certificates or send it to another person. I want to hand them my tablet and have them sign it and save it. Eliminate the need to email the document to them, eliminate papers to print and scan later, and ultimately save time. Is this possible? I’m finding nothing.