Can I change the form address?

Is there anyway to change the form URL address to our domain name?  We can provide SSL certificates and modify our DNS as necessary.

Yes that's possible by adding a CNAME record which points to custom.jotform2.com with your domain or subdomain. Here's a short but detailed guide on how to set it up How-to-use-Custom-Domains-with-Jotform

On the other hand, you also have an option to set a Custom URL for your forms. Although this will not sit on your domain, it's still worth sharing How-to-Create-a-Custom-URL-of-a-Form

Thanks.  That works for me.