The easiest way (aka the way using the smallest amount of code) to insert a row into a database table using Zend_Db is:
$data = array(
    'created_on'      => '2007-03-22',
    'bug_description' => 'Something wrong',
    'bug_status'      => 'NEW'
);
$db->insert('bugs', $data);
The above code will insert a new row into the bugs table whereas $db is the Zend_Db_Adapter_Abstract-subclass you created with Zend_Db::factory(). Please see Writing Changes to the Database in the Zend Framework manual for more details and the whole spectrum of features Zend_Db provides.
For the sake of completeness, the above code will issue a query to the database similar to:
INSERT INTO bugs (created_on, bug_description, bug_status) 
    VALUES ('2007-03-22', 'Something wrong', 'NEW')
The next step would be a more sophisticated approach using Zend_Db_Table.
EDIT:
Given that you have a Zend_Form ($form) with the appropriate fields created_on, bug_description and bug_status and provided that you have the right filters and validators in place, adding a new row with values given in the form is as easy as
if ($form->isValid($_POST)) {
    $db->insert('bugs', $form->getValues());
}
Storing a custom object is also very easy:
// $bug is your custom object representing a bug
$db->insert('bugs', array(
    'created_on'      => $bug->getCreatedOn(),
    'bug_description' => $bug->getDescription(),
    'bug_status'      => $bug->getStatus()
));