Recently, i tried to generate pdf by nodejs.
And i finally found the PDFKit.
That library is doing well,but i need to implement the part of digital signature.
I am currently working on the node-signpdf npm package (at the moment of writing this answer the version is 0.0.3). A readable snippet of PDF generation and signing can be seen in the test code.
I know this answer comes years after the original question but I had pretty hard time figuring all this out so hope this answer helps someone.