In england-and-wales, the Companies Act 2006 sets out provisions for when and how in the modern era documents may be “executed” such as equivalent to a company imprinting them with their seals.
As I recall back in the day it was largely the norm, but then became less necessary as signing was an adequate alternative, however it was still necessary to affix a seal to certain things, principally a deed. The difference between a contract and a deed is that a deed may be a unilateral promise and thus requires no consideration, yet if executed properly may still be binding.
In the modern day, section 44 Companies Act 2006 provides practical modern methods whereby companies may “execute” (rather than merely “sign“ documents, such as being signed by multiple officers or with witnesses.