The problem is that printers tend to be iffy about top to bottom alignment so not only do you get to use your usual form filler apps but you would get a printer that has good paper handling. I suggest a laser for this.
However many folk just scan in the form to again some form filler app and print the entire thing.
This whole area is best called what it is and I call it fiddly.
I have a printed document that has some empty fields to write to (name, age etc).
And i want to finda program that i will give as input the wanted data (name, age etc) and print them at the specific fields of the hard copy document.
I want to turn hand writting into computer writting, without tossing in the trash all my printed documents.