A system for printing and interacting with documents comprising: (a) a computer system configured for: receiving a print request; allocating a unique document identifier to the document in response to receiving the print request; and associating the document identifier with a description of the document; (b) a printer for printing the document containing human-readable content together with a coding pattern on a surface; and (c) an optically imaging pen for sensing a portion of the coding pattern during handwritten input on the document and for generating a signal indicative of the unique document identifier and a position of the pen relative to the document. The computer system is further configured for: receiving the signal from the pen; determining the document identifier and the position of the pen; retrieving the description associated with the document identifier; interpreting the positions as a path of handwritten input; and updating the description with information corresponding to the handwritten input.