Go here to download cutepdf, a free application that adds creating a PDF to your printer menu. From then on, you can turn any document into a PDF using the print process you already know. Cute PDF Writer will be listed in the select printer options you normally see.
I did it myself without any problem, so you certainly can, as well. If you want to try it out, pick your favorite agency form or case file tool, scan it and send it to firstname.lastname@example.org.