Create an HTML form. Point the action attribute of the form at 'signup.php'. Make the method attribute 'POST'. Then add your form fields. You can access their values in signup.php after the form is submitted using the prewritten $POST[] array e.g.
<html>
...
<form method="post" action="signup.php">
<input type="text" name="firstname"/>
<input type="submit" name="sibmit" value="Submit"/>
</form>
...
</html>
//signup.php
echo "Your first name is ".$_POST['firstname'];
$sql = "INSERT INTO users VALUES (".$_POST['firstname'].")";
That's the basics. Remember when you accept database input you need to parse it thoroughly 🙂