There are quite a few threads on this subject that I have read through, searching for the same answer, and thread resulting in there is no easy answer without custom programming, and there may be some layout options in Zen Cart 2.0.

I wouldn't know how to program it, but I have a suggestion for someone to try. If you created a form in the style you wanted, insert it with a div, and had the form write to a text file. If the text file data added to the product order when add to cart was clicked, that may work out? (Just wondering about if simultaneous orders would cause issues.)

I know it would be more in-depth integration for the options that change prices, but it may get the ball rolling on this common question.