Since Android 5 you can use PdfDocument and its friend classes to generate a PDF document on Android device. The official documentation is here. There is no library to use a template with PdfDocument. You have to use some drawing primitive to accomplish your task.
Here is a sample to generate a PDF with a single page A4:
// create a new document
PdfDocument document = new PdfDocument();
// crate a page description
PageInfo pageInfo = new PageInfo.Builder(595, 842, 1).create();
// start a page
Page page = document.startPage(pageInfo);
Canvas canvas=page.getCanvas());
// draw something on the page
Paint paint = new Paint();
paint.setColor(Color.RED);
canvas.drawCircle(50, 50, 30, paint);
// finish the page
document.finishPage(page);
// write the document content
document.writeTo(getOutputStream());
// close the document
document.close();
The page content is defined with Canvas object. Just another example. I hope this helps you.