Check with your web host first.
Most web hosts offer a form to email script. Some ISPs offer his on their free webspace. My ISP is BT and they offer guestbook, form to email and one or two other scripts. All you do is copy and paste the code into your own pages and they give full instructions on how to do it.
If you have FrontPage and your web hosts support FrontPage server extensions you can use FrontPage to generate the form. The server extensions are mini programs that do specific tasks, and form handling is one of them.
If you have the option of CGI on your web account you could try the popular Matt's Script Formmail click here or if you have PHP support you could use any one of a number of excellent form to email processors.
Jack's Script is a pretty good PHP email handler click here
There are also a few introductions on how to write your own PHP form handler click here
Finally, if you don't have any script support on your site to handle forms, you can pay a modest sum for a third party to host your form handler and process the submissions to your email account. One such option is FormMail.com click here