There is a variaty of modules in perl that deal with PDF, including PDF::API2, PDF::Reuse and Template::PdfTemplate. The last one looks like the best bet for you. The other two are not well suited to generate PDF conviniently from scratch.

However, personally I prefer to create PDFs (and I do it a lot) using XSLT to produce an XSL-FO-document, which gets then translated to PDF using FOP. It's also possible to produce such an XSL-FO document via the numerous Templating engines like HTML::Mason or the Template-Toolkit.

Note: At the time of this writing search.cpan.org is down again, so I cannot verify if the links are not broken. If so, please /msg me.