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.
Show on pop-up
Now, in order to show the form in a pop-up on the product page on Storefront, you need toembed 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.