Xournal is an easy to use application for notetaking, sketching, keeping a journal using a stylus. Xournal aims to provide superior graphical quality (subpixel resolution) and overall functionality. The app is always with you on the move or at home: on your PC, tablet and even phone. Plus, you get access to your files from your cloud storage: Google Drive, Box, Dropbox and OneDrive.
Additionally, strokes and blocks of text can be selected, moved and copied using a rectangular selection tool.
Xournal User's Manual with information on tools, pages, layers, backgrouds and more is available at xournal.sourceforge.net/manual.html
Xournal can be used to annotate PDF files, by loading the pages of a PDF file as backgrounds for a journal. Annotation can then proceed using any of Xournal's standard tools: Pen, eraser, text, and highlighter.
Xournal has exporting to PDF. So your journals look similar on different devices and applications, and on the paper after printing.