I wanted to create a module named "my_module" which list out a simple form, I achieved this in drupal 8 with the following steps

1. Create a folder named "my_module" in "/sites/all/modules". Create "all/modules" directory if it does not exist
2. Create info file my_module.info.yml with following information

name: My module
description: Hanldes my custom functionalities.
type: module
version: '1.0'
core: '8.x'

3. Create my_module.routing.ym file which handles menu for my custom module, In my custom module I want to display a custom form which is handled as below

my_module_form.form:
      path: '/my-form'
      defaults:
        _title: 'My form'
        _form: '\Drupal\my_module\Form\MyForm' // You can specify forms or controllers in this section
      requirements:
    _permission: 'access content'

4. Now in the my_module create a folder "Form" inside src folder(create src folder if it does not exist).Inside Form folder create MyForm.php and add the below code

 
    namespace Drupal\my_module\Form;
    use Drupal\Core\Form\FormBase;
    use Drupal\Core\Form\FormStateInterface;
    use Drupal\Component\Utility\UrlHelper;

    /**
     * Contribute form.
     */
    class MyForm extends FormBase {
      /**
       * {@inheritdoc}
       */
      public function getFormId() {
	    return 'my_form';
      }

      /**
       * {@inheritdoc}
       */
      public function buildForm(array $form, FormStateInterface $form_state) {
      	$form['user_name'] = array(
	        '#type' => 'textfield',
	        '#title' => $this->t('User Name')
	      );
        return $form;
      }

Implement submit function

      /**
       * {@inheritdoc}
       */
      public function submitForm(array &$form, FormStateInterface $form_state) {
        drupal_set_message($this->t('Welcome @user', array('@user' => $form_state->getValue('user_name'))));
      }
    }
   

5. Enable "my_module" at admin/modules
6. Clear cache at admin/config/development/performance
7. Load and test page in /my-form

Hope this hepls!