Docusign - Users can't Sign on Behalf of Another User

No, you cannot sign on behalf of another user. This defeats the purpose of Docusign, for high level legal documents no one should be signing on behalf of anyone else. 

This is the official response from Docusign support:

"Users will not be able to sign on behalf of other users. If the user is apart of a signing group this is an option to have anyone from a group of signers to sign an envelope."