For a one-liner, if you use any tool to generate a realistic version of your signature, or do what I do and actually scan a version of your signature once, and then have that as a PNG that you can drop on any PDF of your liking, here's a line to make it look nice and "scanned":
convert "$1" -alpha Off -density 150 -colorspace gray -blur 0.5x0.5 -rotate 0.4 -level 40%,60% "scanned-$1"
Or for even more noise and poor quality: convert "$1" -colorspace gray \( +clone -blur 0x1 \) +swap -compose divide -composite -linear-stretch 5%x0% -rotate 1.5 scanned-$1.pdf