I recommend ezPDF Reader. I use it on my Galaxy Ace (which is a lower end device), and the app is awesome. I can bookmark, highlight, draw, and all fancy stuff. Then I open the PDF on a PC computer, and there are all the annotations etc.
Plus: it can read out loud the text, and, surprise: it can auto-OCR a digitized text-file, actually recognise the text! And reflow the text on the screen, select/copy/paste, etc. If the digitized text isn't all that well digitized, it may get a letter or two wrong, but, wow, it's awesome.
I got the paid version. Worth each penny.