As a first time paper filer, does CRA need to see a pen (ink) sign? I am hoping to scan the signed documents and send it to my friend who will print and post it for me

They don't need to see an "inked" signature, they will process your return with or without one.

Thank you for letting me know 😊

I still do not understand why first time filers need to paper file. 

Because the CRA doesn't have any of your information on file yet, so they have to manually enter it in, hence paper filing for first-time filers. 🙂