Yes, it's called Repligo Reader. It's $4.99 in the market place but it's a powerful PDF tool, I use it all the time with PDF text books to make notes, highlight sentences etc. https://market.android.com/details?id=com.cerience.reader.app&feature=top-paid
Repligo reader was recommended to me on another site. I emailed the developer but they don't support fillable pdfs right now but will in the future.
I will probably download it shortly and give it a run. There are a bunch of PDF apps, I am sure something works, if not, someone will probably make one.
I may be the town idiot here, but the Adobe reader works fine for me, lol.
:-o