I'm not sure what you mean by 'easier' (compared to what?), but the easiest way I know is:
require_once($CFG->libdir.'/pdflib.php');
$pdf = new pdf();
$pdf->AddPage();
$pdf->WriteHTML('<p>This is an example</p>');
$pdf->Output('mypdf.pdf', 'D');
There is a lot more documentation at: https://tcpdf.org/
(Above written off the top of my head, without testing).