If you are in Acrobat 9 or later, you even have the option to create your forms to be saveable and printable by the receiving party.
View this handy video on how to create forms!
And the bummer still about this technology is that there are still a couple of bugs that need to be ironed out. The main one being that if someone fills out a form in Mac Preview, and then the form is opened in Acrobat, the information disappears untill you click on the field.
But not worry! There is a fix, check this out: http://blogs.adobe.com/pdfdevjunkie/2009/11/script_to_fix_mac_osx_previewa.html
Enjoy!