Either you can create using export to php code and use that code into page in your theme.
or just create custom field groups in the back-end itself.
You can get idea from here http://www.advancedcustomfields.com/resources/create-a-front-end-form/, and also read more about acf_form($args).
Take a custom field id and pass it to acf_form() function.
Here is an example
$args = array('post_id' => 'new_listing',
'field_groups' => array('custom field group id'),
'submit_value' => __('Submit','your theme name'));
acf_form( $args );