You want to create a form in a pop-up on the product page of your store that your customers can fill to seek information about the product.
Please follow these steps to create the form:
You might want to send a notification (Email/SMS) when somebody fills the form. You can configure a new Notification or use an existing one in the Settings tab and set it up to be sent when the form is filled.
Now, in order to show the form in a pop-up on the product page on Storefront, you need to embed the form on the pop-up.
When you click on the Ask for help button, the form appears:
Click here to know more about forms.