You would use decorators. For the simplest example of a custom decorator, check out Matthew's tutorial here, specifically the My_Decorator_SimpleInput decorator.
so you could do something along the lines of
class My_Decorator_SimpleInput extends Zend_Form_Decorator_Abstract
{
protected $_format = '<tr><td><label for="%s">%s</label></td><td><input id="%s" name="%s" type="text" value="%s"/></td></tr>';
public function render($content)
{
$element = $this->getElement();
$name = htmlentities($element->getFullyQualifiedName());
$label = htmlentities($element->getLabel());
$id = htmlentities($element->getId());
$value = htmlentities($element->getValue());
$markup = sprintf($this->_format, $id, $label, $id, $name, $value);
return $markup;
}
}