Need to Populate Task Custom Fields through a Web Form

I have the need to create a web form that will collect Contact fields and also collect Task Custom Fields and then create a new Task for the contact with the the task custom fields populated.

Does anyone have experience with this?

My application is that I would like to create an internal form that our company staff will use to create new tasks for the contact and have task custom fields populated. The end result is that it would serve as an internal “work order” request for company staff to use.

It makes a lot of sense.