We finally got our hands on the new Apple Pencil and have been able to confirm that it works flawlessly with the FormConnect apps both as a drawing tool and for signature input. In hindsight, this should not have come as much of a surprise as we have always supported 3rd party styluses for photo annotation, drawing sketches and for capturing signatures.
The main difference with the Apple Pencil versus other styluses is that it is a more precise writing instrument in that your drawings will look more granular in their detail and the handwriting will look more legible.
Note: The Apple Pencil currently only works on the iPad Pro.