For standard PDF forms (Acroforms) you can use Acrobat. More information is available in a number of tutorials here at acrobatusers.com
Adobe's FormsCentral allows you to create web forms and PDF forms based on web forms. You can also use PDF forms created with Acrobat with the service.
Finally, LiveCycle Designer creates a type of PDF form (XFA). This used to be included with Acrobat Professional but is now a separate product. They allow for a type of dynamic behavior that's not otherwise available, but have limited support with non-Adobe PDF viewers, particularly on mobile devices.