Your document includes text that's not compatible with the Windows-1252 character set.
If you need full UTF-8 support, use external fonts instead of PDF's built-in fonts.
Extracted source (around line #114):
112
113
114
115
116
117
              
@pdf.fill_rounded_rectangle [0, @pdf.cursor], 250, 26, 5
@pdf.fill_color(pago ? 'FFFFFF' : '374151')
@pdf.text_box texto, at: [12, @pdf.cursor - 8], width: 238, size: 10, style: :bold
@pdf.fill_color '000000'
@pdf.move_down 34
end

Rails.root: /app

Application Trace | Framework Trace | Full Trace

Exception Causes

Encoding::UndefinedConversionError: U+2713 to WINDOWS-1252 in conversion from UTF-8 to WINDOWS-1252

Request

Parameters:

{"motorista"=>"Bruno Corgozinho", "id"=>"9"}

Response

Headers:

None