Basically, you will need to use HTML table to create custom PDF layout for the form.
As far as I know there’s no option to create a PDF template, but you can always create new form (either it will be identical to the previous form, or entirely new) and each form can have different PDF layout.
However, it will be very helpful if the plugin author provide more documentation of how to create custom PDF template. So probably each form can select one of the PDF templates available by default or user generated (the easy way) and that will save time.