thanks for your interest in Penmap.
You can import a csv (or a shape file for example as well if you prefer to work with iFeatures) during the process of creating your project in the Prnmap Project Manager.
After you have set the coordinate system in the Penmap Project Manager you can browse for data to import to your project in the next step.
You can then stakeout the points on the device on which you download the project from the cloud.
If you have any other questions don't hesitate to contact.