Hello Sean,
you can define local printer as PDF printer (e.g FREEPDF) and print your PDF forms to that printer.
To be able to generate a form, you can create new printer:
name: locl_pdf
device type: PDF1
Host spool access method: G - front end printing
This locl_pdf printer will generate a pdf and send to your local printer which is setup for PDF saving.
Hope it helps,
Evgenij