If you prefer working on a tablet computer, you may choose to work with the PDF as a digital file rather than printing it out. The above example is using Notability on the left and Pocket Bible on the right, both open on an iPad. You could use other apps for PDF annotation or for the Bible program. Make sure they are split screen compatible. You could also use the full screen to annotate your PDF file as well.
You can type text in various fonts, or use handwritten notes by zooming in the screen as much as you desire. You should use a digital pen for handwritten notes.