How can I set up a custom URL for a form?

Is there any way I can set up a customer url for a form? 

Yes, you can indeed set up custom links for your forms, it will include your username and the name that you set up, here is a guide with more  details about, please take a look: How-to-Create-a-Custom-URL-of-a-Form

You can also use custom domains with your forms, this way you may completely change the link to the form, this is achieved through DNS settings, please take a look to this guide in order to get more  details: How-to-use-Custom-Domains-with-Jotform

If you have any question, please let us know.