JotForm is a free online form builder which helps you create online forms without writing a single line of code. No sign-up required.
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Yes, you can create a custom URL for your form by following the steps provided on this guide: http://www.jotform.com/help/261-How-to-create-a-Custom-URL-of-a-form
If you have a domain, you can also use it to render your forms by following the steps provided here: http://www.jotform.com/help/144-How-to-use-Custom-Domains-with-Jotform
Hope this helps.
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