Getting rid of the keyboard/menu bar at the bottom is easy: just remove the MainMenu control from each of your forms.
Getting rid of the start menu (aka task bar) at the top of the screen is more difficult, and requires using the Windows API. This link shows how to do it.
There is a simpler way to make your application full-screen (sorry, it's early and I don't remember it right now), but the simpler method has an ugly side effect where the task bar momentarily reappears when you switch to another form in your application, which kind of kills the desired kiosk effect. Using the API as above to hide the task bar prevents this from happening.
However, there is a danger to this approach: if your application exits or crashes without having un-hidden the task bar, your user will have no way of unhiding it, and it will remain invisible until the device is reset.