Members, Prospects, and Non-Attending Contacts can all sign waivers through their profiles. However, they will not all be able to sign the same types of waivers.
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To sign a waiver through a contact profile click the "Waivers" tab, then select "Sign new Waiver": 

Then select your waiver from the drop-down and choose either "Sign Waiver Now" or "Send Link to Member":

Sign Waiver Now will take you directly to the waiver so your contact can sign it on the spot.  
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​Send Link to Member will send you to the following screen before you can click "Send email" to confirm: 

Members will be able to sign waivers where the type is "Sign up new Members".
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​Prospects will be able to sign waivers where the type is "Sign up new Prospects". They will also be able to sign member waivers, this will turn them into a member.
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​Non-attending contacts will be able to sign waivers where the type is "Other - Collect details from non-attending people".  For information on changing a non-attending contact profile to a member or prospect contact profile please read this article.