It is technically possible to do this, in-fact it is one of the scenarios we had in mind when we made PKIjs (which is why there is this sample) – https://pkijs.org/examples/PDFexample.html
That said to do signing requires working with the PDF structure itself, which either requires a custom parser or modifications to an existing one (pdfjs for example).
Long story short, signing a PDF in browser will take a lot of work, it is something we are working on though.