How do I setup the form for people to access and complete?

I want to create one form.

And I would like two people, maybe three to be able to complete such a form.

And another two to view them although that should be easy to do accessing them in pdf form.

So how do I set this up for three people to access and complete?

Assuming that you have already created the form, just click on the Publish section of the form builder. It's either you will share the direct form URL or embed the form on your website.

https://www.jotform.com/help/67-Which-Form-Embed-Code-Should-I-Use 

That should allow people to fill/complete the form.

As for allowing your colleagues to view the form submissions, you have the option to share the submissions page or give them the access by adding them as a sub-user account.

https://www.jotform.com/help/232-How-to-Share-Forms-with-a-Sub-Account-User 

https://www.jotform.com/help/199-How-to-Share-Form-s-Submissions-Page 

I hope that helps.