Estimate Creation Form?

I came across a post from 5 years ago at https://help.zoho.com/portal/en/community/topic/submit-form-to-create-estimate and would like to know if there is a new and easy way to create a Zoho Form that will create a Zoho Estimate that can then be accepted and turned into an invoice. Most importantly I need the invoice to take the items from Zoho Inventory for the purchasing process.

Is this possible and how?

Steve