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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If you mean change your form URL that's possible. There are actually different ways to achieve this.
1. Embed the form to your website. By embedding the form to your website, you will now have to use the website URL where you have embedded your form when you share it with your users, not the form URL.
2. If you just want to change your form URL with your own domain, follow this guide. http://www.jotform.com/help/144-How-to-use-Custom-Domains-with-Jotform
In addition to this, you can also create a custom URL in your form but this doesn't remove the jotform.com domain in it, just the form ID (long string numbers at the end of your default form URL).