Contact form 7 plugin is very goodcan create html forms in WordPress using this plugin. This plugin automatically insert <p> and <br/> html tags in forms. If you want to remove these tags then define following variable in file.
define ( 'WPCF7_AUTOP', false );
It will prevent contact form 7 to add empty <p> tag and <br> tag in form. So you can create form as you want its design.