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Did a quick look at shiny. You can use JavaScript so jsPDF would be a great choice.
If we're talking about making something really easily for a small data set with minimal programming knowledge and time required, Google Apps Script would probably be a good bet. Similarly, if your organization has Microsoft Office 365 instead of Google Workspace, you might try out their Office Scripts and Power Automate.
I'd go with this way as well. HTML or LaTex is a lot easier to work with than trying to create a PDF file directly. And there are existing tools around that can convert these formats into PDF, for example in Python: https://pypi.org/project/pdfkit/ or https://pandoc.org/