Can Pdf Customiser display comments?

Pdf Customiser has a field "Custom Text" which you can fill with text which will appear on all pdfs

The extension also provides an option to print the order comment history (the one you see in the backend order view history)

Pdf Customiser is compatible with the order comments entered by the customer as provided by a range of third party extensions, including:

If you are using one of these extensions, customer order comments will appear automatically on the pdfs generated by Fooman Pdf Customiser.