Instead of the html extension, you can try .pdf extension to show the pdf file. i.e. try changing the URL to
http://<server>:<port>/content/xfaforms/profiles/default.pdf?contentRoot=crx:///content/dam/formsanddocuments/FordeForm&template=ESC101NK.xdp&dataRef=crx:///content/dam/fordeform/contractData.xml