Hi @kevin.reevers,
Of course, you can upload a PDF to the Prismic media library, or as an asset in your project. However, it sounds like maybe you want to programmatically generate a PDF with data from Prismic? If that's the case, I haven't personally seen any examples of anyone doing that. I'm sure it's possible, though I can't say exactly how. Maybe you can make it work with a package like PDFMake or PDFKit.
I hope that helps! Let me know how it goes 
Sam