twitter create a form

How can i create a twitter form which prompts the twitter user for an input and once submitted i receive the twitter user id and the input field on my server.

I do not want the users to be taken to my page and authorize their e.g. using Twitter OAuth. But instead from within twitter, users should be able to reach my form and require no authorization.

The closest i have found is twitter lead generation cards for business which allows custom forms/inputs. But it is for business and paid.

Is there any thing else out there?

Something similar to Adding a Form to Facebook Page.