Software / application to "stamp" or annotate a pdf file

[Chad Hale]

To further streamline my accounting and keeping a paperless office, I'm looking for a solution to add a stamp/annotation to an existing pdf invoice/file. 

I want to open (not in web browser) an existing PDF invoice, add a PAID stamp that allows me to enter the date, amount, payment number/type etc.  Save this updated/paid invoice/file.

Currently, I print the invoice, stamp it, add the payment information, scan and save as a pdf.  Too many time wasting steps.

I don't mind paying some $ for this.  The Adobe Acrobat Pro solution seems expensive and is subscription based.

I don't think I want a cloud based or web based solution?

Thanks for any suggestions or ideas of software/application/ other solutions for this.