pdf2fill allow you to upload a PDF, the tool finds the fields, you type, you download. Free, no watermark, no credit card.
The detection is the part I'm proud of. It works on flat PDFs by reading the page geometry. If it misses one, a click adds it.
Filling happens on our server, so your file does get uploaded. It's never saved to an account, and it's deleted automatically within an hour of your last activity.
Image-only scans aren't supported yet since there's no OCR.