You should trigger an email to receive the pdf to ensure that people don't just give you a fake email address to get the pdf. This is the best practice.
I concur with Jamie's point above, this is not lead generation best practice.
Now, if you really want it, various solutions, growing complexity
- Have the link to the PDF in a CTA in the follow-up page
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- Registration Page+Form
- TY Page with link to Asset
- Optional - send email based on Fills Out Form trigger with Email to link to Asset PDF
- Upload PDF to Marketo or Your Site first, of course.
What I tend to do is have the form link to a thank you page which has the asset on and then send the asset link in an email auto responder as well.
So when you add the form you select 'External URL' as the 'Follow-Up' type and then either put a link directly to the pdf, to a thank you page, or point it to your website. And then set up a smart campaign that triggers off the form fill, so as soon as they've filled out the form and hit submit they get a follow-up email. This is a great way to validate the email address too.
Hope this helps.