Inserting form or report in Acrobat document

We manage construction projects as Owner's Representatives, routinely
reviewing invoices submitted for payment by the contractor or his subs, and
then, if approved, forwarding to our client's controller for payment.

One of our clients, a major hotel chain, has a form (in the form of a
physical stamp) with fields for the vendor name, date, invoice amount, etc.
We have been stamping the paper invoice, filling in the fields, rescanning
the document to a pdf, and emailing it. We know there's got to be a better
way.

Ideally, we'd like to receive the invoice by email, somehow fill in the
fields in an Access form, and press a button to insert it into an existing
..pdf file. Anything short of that turnkey solution that nevertheless
delivered a "dynamic approval stamp" using an Access form would also be
helpful.

Can anybody assist?

Thank you.
Sprinks