Generally, you need Adobe Acrobat, which is about $250. However, there is shareware available that looks like it does it, based on the descriptions. Go to www.download.com and search for pdf create. Here's a URL: http://download.com.com/3120-20-0.html?qt=pdf+create&tg=dl-2001
I purchased PDF Factory from the people at www.fineprint.com Works great, especially with their FinePrint product. Not terribly expensive either.