Yes and no

If there are form fields inside the PDF, you can simply fill those out, should be pretty obvious. Most PDF viewers will highlight those form fields slightly,
or make you aware with a hint that "this document contains form fields, do you want to enable them" or something the like.
Question would be, what desktop environment do you use, or what PDF viewer opens up when you open the PDFs?
okular? evince? ... ?
For editing it, there's e.g.
xournal which offers a lot of editing possibilities. Actually for most off those it will only create graphics or text on top of the PDF,
and you can save and also export the result to PDF so it can also be reused. I like it for putting (handwritten & scanned) signatures on PDF forms.
There's also libreoffice-draw and libreoffice-writer which offer limited PDF editing facilities, depending on the type of the PDF.
This might require the package libreoffice-pdfimport .
There are a lot of other programs that offer PDF editing capabilities to varying degrees, but those are mostly not intended for normal endusers.
Like scribus, pdftk, pdf2txt, or ...