Hi Toni,
We did a webinar in January showing how to pull tasks into a form and change their values. No code required, but configuring the ShP stuff is a bit tricky. I'm not sure if the webinar shows how to create new tasks, but that should also be relatively straightforward. Check out Qdabra's YouTube channel for the webinar Jo-Anne Alfafara did in January.
Another approach is to use qRules to set up a correspondence between your task list and your form. We've done this before and even have an XML Template Part with notes that you could use. qRules has a free trial and it's inexpensive. If that's an option for you, send us an email and we'll send you the info.
Best,
Patrick