If the forms are intended to be printed, not filled out in Acrobat
Reader, it's definitely possible, though not completely
straightforward.
Prawn doesn't have a lot of advanced high-level layout functionality
currently, but since you can position containing boxes, text,
geometric shapes and images, you can achieve a lot if you're willing
to put in some effort.
Imagine HTML without floats and tables for layout, but with absolute
positioning and knowing the exact pixel dimensions of the viewport,
pixel widths of strings etc. And with the full power of Ruby to make
helper methods. It's kind of like that.
If the forms are to be filled out in Acrobat Reader, Prawn doesn't
really support that currently. See
http://github.com/yob/prawn-forms
for a proof-of-concept, though. Perhaps yob would develop it further
if sponsored.
Since you already have HTML and want the look to be very similar, you
may want to look into the HTML-to-PDF libraries out there. I haven't
used any myself.
Since you're Swedish: a colleague and I may do a Prawn presentation on
the next Stockholm Ruby User Group meet-up, though no date has been
set yet:
http://rails.se/rails/show/Railstr%C3%A4ff+n%C3%A4stkommande