FooFormHelper .php

<?php
namespace Module\View\Helper;

use Module\Form\FooForm;
use Zend\View\Helper\AbstractHelper;
use Zend\View\Model\ViewModel;

class FooFormHelper extends AbstractHelper
{
    protected $fooForm;
    protected $viewTemplate = 'module/layout/foo-form';
    
    public function __construct(FooForm $fooForm)
    {
        $this->fooForm = $fooForm;
    }

    public function __invoke()
    {
        $vm = new ViewModel([
            'form' => $this->fooForm;
        ]);
        $vm->setTemplate($this->viewTemplate);
        
        return $this->getView()->render($vm);
    }

    public function setViewTemplate($viewTemplate)
    {
        $this->viewTemplate = $viewTemplate;
    }
}

Sweet stuff 👍