The PDF format supports this, at least Adobe Reader can validate a signed PDF if it's signed in a certain way[1]. I know DocuSign does this - and Reader even has a little button to view the signed version (embedded in the PDF, I think)[2].
[1]: https://helpx.adobe.com/acrobat/desktop/e-sign-documents/man...
[2]: Example in Adobe Reader: https://i.moveything.com/1cf1e4ea5619 (redacted partly by me)