regardless of which server the form is on, the point is that the form data sent between the client and the server should be sent over a secure connection if the form data contains sensitive information. there is absolutely no added security benefit by serving up a form securely since at that point no data has been sent yet.
some might argue that there is a security benefit to this since many users like to see a little yellow pad lock in the browser while filling out a form.
you will need to change the action path of your form to point to the form processor on the secure server. be advised that switching between http and https can cause problems using sessions.