PDFs are a bit tricky, it's very hard to convert HTML to a PDF and usually requires third party tools. You can use HTML with the form to format it so it looks a lot prettier, but the generate it to a PDF isn't there by default.
However, Kentico has built in CSV / Excel / XML logic, and with it's Reporting you can receive the data as an attachment. So without any customization, you can create a Report with Parameters "FromDate" and "ToDate", add a Table with the following query:
Select * from Form_FormNameHere WHERE where FormInserted > COALESCE(@FromDate, '1900-01-01') and FormInserted < COALESCE(@ToDate, GETDATE())
Then you can subscribe to the report configure it will run every X Time (Say every 5 minutes) and only do the last X time (again every 5 minutes), set it to "Send only if data found", subscribe to that particular table. It will by default send the report as well as include a CSV of the data.