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doPDF is built on the same platform and by the same company as novaPDF. While doPDF is free and recommended for casual use, novaPDF is recommended for more advanced PDF needs.
Below is a quick comparison between doPDF and novaPDF to help you decide which fits your needs best.

doPDF (Free)

General
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Print from any Windows application
Add-ins for Microsoft Office
Interface available in multiple languages
Use custom page size
Set printing resolution (72 to 2400 dpi)
Page scaling (1-400%)
Set page orientation (portrait/landscape)
No ads in Save dialog
Add multiple virtual PDF printers
Security
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Add user password protection
Add owner password protection
Encrypt PDF files (AES, 128-bit and 256-bit)
Disallow printing the document
Disallow extracting text and graphics from the PDF
Document information
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Set PDF information (title, subject, author, keywords)
Add Copyright info in PDF
Fonts
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Embed font subsets
Support for OpenType, TrueType and Type1 fonts
"Embed all fonts" and "Always/never embed" list of fonts
Profiles
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Embed formulas, tables and images
Detect URLs/local files and convert to PDF links
Choose PDF Version (1.3/1.4/1.5/1.7)
Create and manage predefined page sizes
Private and public profiles
Connectivity
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Use as desktop printer
Share as network printer
Use with Terminal Services
Use through Remote Desktop Connection
Use as PDF Server
Graphics
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Compress/Downsample text and graphics
JPEG and ZIP compression methods
Downsample indexed/monochrome/high color images
PDF Bookmarks
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Add PDF Bookmarks
Detect bookmarks by font, size, style, color
Allow multiline bookmarks
Watermarks, Overlays & Signatures
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Insert text/image PDF watermarks
Overlay PDF files
Sign PDF files (using digital signatures)
Actions, Emails & Upload
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
After save actions with presets (open, run, copy, delete)
Automatically send PDF via email
Automatically upload generated PDF to FTP/SFTP servers
Print Monitor & History
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)
Export realtime and archived printing monitor logs
Printer Monitoring tool
Printing history with statuses
doPDF (Free) doPDF (Premium) novaPDF Professional (PAID)