I would say that the PDF parser in the Appstore would probably be to your liking. If not, there are several others. Try J-Reports second.
There are options in the AppStore to use Word templates to generate PDF documents, but most of them require a license of some sort (i.e. they are not free). The only free one seems to be the Word Exporter module, but it doesn't list a PDF export.
Mendix doesn't offer alternatives, and the Idea to improve this area of Mendix was unfortuntaly shot down.
There are some in the appstore:
Note though that these are all paid application. Some are very modest (like a one time fee) so do look around. All have their advantages and disadvantages.
By the way, is it possible to secure a pdf with a password?