Is it possible to host the form on our domain?

Yes that's possible by downloading your form's Full Source Code then upload and host everything on your website. However, keep in mind the following:

Every time you change (add or remove fields) from your form in the form builder, you must update the form codes on your site by re-embedding the form. This is because the source codes that are currently embedded to your page are not automatically updated.

The excerpt above was taken from the guide I'm linking below.

Complete guide: How-to-get-the-Full-Source-Code-of-your-Form