The layout of the form is controlled completely by the layout supplied in the form setup. The form setup screen will take any html elements and produce the proper output. To achieve what you are looking for, there are a number of options:
To set up a 2 column layout, you can change the default code
<p>Field Label<br />
[field_type field_name]</p>
And remove the <br />
which puts the next element on a new line to come up with:
<p>Field Label: [field_type field_name]</p>
Or you can use a table layout and put each field in its own <tr></tr>
:
<table>
<tr>
<td>Field Label</td>
<td>[field_type field_name]</td>
</tr>
</table>
Or if you have knowledge of styling through CSS you can use lists and put each field in its own <li></li>
:
<ul>
<li>
<label>Field Label: </label>[field_type field_name]
</li>
</ul>