The PicoScope 6 oscilloscope software will allow you to import a csv file, where the data values are in the range -1 to +1 corresponding to the minimum and maximum values.
The PicoScope model will determine how many samples can be stored in the Arbitrary Waveform Generator (AWG) buffer. For example, the PicoScope 3204B has an AWG buffer size of 8ks, while the PicoScope 6404D has an AWG buffer size of 64ks.
You can also import waveforms from an input or maths channel in to the Arbitrary Waveform Generator editor in the PicoScope 6 software, but the data may be downsampled if the number of points is greater than the AWG buffer size.
What output frequency do you require?