I found this solution: defining the rest service as follows (REST DSL)
<rest path="/">
<get consumes="application/json"
outType="java.io.InputStream"
produces="application/pdf" uri="/provarest">
<to uri="direct:provaRest"/>
</get>
</rest>
I'm able to return the PDF with this route
<route id="route6">
<from id="_from1Route6" uri="direct:provaRest"/>
<to id="_toProvaRest" uri="provaRestProcessorId"/>
</route>
where provaRestProcessorId is a processor with this method
@Override
public void process(Exchange exchange) throws Exception {
InputStream is = new FileInputStream(new File("C:\\somepath\\Prova.pdf"));
exchange.getOut().setBody(is);
}