Please follow the steps described on the official Noteshelf support pages for:
iOS
https://noteshelf-support.fluidtouch.biz/hc/en-us/articles/360056896934-How-to-import-and-annotate-PDFs-in-Noteshelf-iOS
Android
https://noteshelf-support.fluidtouch.biz/hc/en-us/articles/360059610513-How-to-import-and-annotate-PDFs-in-Noteshelf-Android
Also, take a look at our Digital Planning Guide:
https://onplanners.com/digital-planning-guide#paragraph-4169