Microsoft Edge is a great PDF viewer for Windows 11/10 with some good PDF reading and annotation tools. You can also easily draw and add a handwritten signature to a PDF document from the Edge ...

1] Inking in PDF files When you open the PDF file in Microsoft Edge, the PDF toolbar launches along with it. The toolbar includes two significant mechanisms for inking: Draw and Erase.

The current PDF facilities within Microsoft Edge are much more basic, with the ability to add text and draw on documents, highlight passages of text, and not much else.