An undeniable signature is like drawing a picture of your name. When you draw your name, it's unique to you and no one else can replicate it exactly the same way.
When you sign something with an undeniable signature, like a contract or a legal document, it's like drawing your name on the paper. It's a way of showing that you agree to what's written on the paper and that you take responsibility for it.
Just like how nobody else can draw your name exactly the same way, nobody else can copy your signature exactly the same way either. That's why an undeniable signature is important in legal matters - it proves that you are the one who signed the document and you cannot deny having done so.