Printing a document just to sign it and scan it back is slow and leaves you with a worse-looking file. You can sign a PDF directly instead: draw or type your signature, drop it where it belongs, and download the signed document.
Is a drawn signature enough?
For the vast majority of everyday agreements — approvals, letters, forms, internal sign-offs — a placed signature is accepted and holds up fine. Some regulated contexts require a certificate-based digital signature (PAdES) with a cryptographic identity; that's a different mechanism, and a drawn signature isn't a substitute there.