There are a couple of ways to do it.
There is a product called Ad Lib that will do it, but at
considerable cost and, frankly, they're not very responsive as a
company and I can no longer recommend them. (Ad Lib also does not
support the latest version of Word that completely changed
everything.)
Probably the easiest thing to do is install Word and Acrobat
and use the Word COM object to print the document to the Acrobat
printer driver.