If users don't have to sign the forms there and then (the sort of process where they place an order, you verify it and send an invoice or purchase order, they confirm or pay, you start delivering …) you could just use a web form.

Personally, it bugs me when I'm trying to do an online (therefore "quick") transaction and I have to go through the download, print, hand-fill, scan, send back routine.

Oh, and someone – Peachpit Press, I think it was – brought out a book some years ago with the title "Underlining is for typewriters" :-} Underlining on a web page is generally reserved for hyperlinks.