You could use docorators if it is only a matter of positioning input tags. You can do that by overwriting/modifying default FormElements decorator, for example, by adding float: left style property to particular form element. Continuing from David's example:
$this->addElement('radio', 'myradio', array(
'label' => 'Select an option below',
'multiOptions' => array(
'val1' => 'Text 1',
'val2' => 'Text 2',
'val3' => 'Text 2',
),
'decorators' =>
array(
'ViewHelper',
'Errors',
'Description',
array('HtmlTag', array('tag' => 'dd', 'style' => 'float: left')),
'Label'
)
));
There is also a setDefaultDecorators() method, that allows you to overwrite all elements decorators in entire form.
More advanced solution if to create composite elements - http://weierophinney.net/matthew/archives/217-Creating-composite-elements.html - i.e. custom form element containing multiple input tags. You have more control over your form business logic that way.