There is Goodnotes, which supports such functionality for PDFs. I’ve purchased such PDFs (bullet journal calendar/notes) and, without trying it, I think it a safe assumption that Goodnotes could consume what is generated by the Hyperpaper link above.
It'll work just fine on an iPad, several folks are doing so (Goodnotes and Notability are the most common apps people use for loading and annotating the pdf). I've done a little work towards color themes to better support the iPad, but for now it's just black & white since most customers use eInk tablets.