Here is a Windows command line version PdfSigner with TimeStamp(TSA) support,
Usage pdfsigner InPdf OutPdf Pkcs12KeyStore Pkcs12KeyStorePassword
because It is a demo application, so the TSA server only supports http://tss.pki.gva.es:8318/tsa
If you have interest, please download it here,pdfsigner(4.9M)