Step 1:
Go to MORE-> Application and Profile Builder

Step 2:
Once there, look for the application and click the edit / pencil icon

Step 3:

Add a new field and give a field label

Select the field type as "Sign Document"
Select the created document in "Document Template"
Save the changes

Result:

On the application form, the user will see an agreement to sign, like shown in a screenshot. Once you click on the sign button, the document will be open in a popup window to get signed.

The following video is from a previous interface but the information is still accurate.

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Add a document to the application, that needs to be signed

After you have created a document template, you can add it to the application to be signed.