Controller.php

<?php

    /**
     * Example action
     * This is an example action that tests binding of forms to entities.
     * @return \Zend\View\Model\ViewModel
     */
    public function exampleAction()
    {
        $node = new \ArrayObject(array(
            'meta' => array(
                'title' => 'Test',
            ),
            'general' => array(
                'slug' => 'test-item',
            ),
        ));

        $form = new \Zend\Form\Form('example');

        //meta
        $meta = new \Zend\Form\Fieldset('meta');
        $meta->add(new \Zend\Form\Element\Text('title', ['label' => 'Title']));
        $form->add($meta);

        //general
        $general = new \Zend\Form\Fieldset('general');
        $general->add(new \Zend\Form\Element\Text('slug', ['label' => 'Slug']));
        $form->add($general);

        $form->bind($node);
        $response['form'] = $form;

        $vm = new ViewModel(array('form' => $form));
        $vm->setTemplate('example');
        return $vm;
    }

view.phtml

<?php $this->form->prepare(); ?>
<?= $this->form()->openTag($this->form) ?>
<?php foreach ($this->form as $elementOrFieldset): ?>
    <?php if ($elementOrFieldset instanceof Zend\Form\Fieldset): ?>
        <?= $this->formCollection($elementOrFieldset) ?>
    <?php else: ?>
        <?= $this->formRow($elementOrFieldset) ?>
    <?php endif; ?>
<?php endforeach; ?>
<?= $this->formCollection($this->form->get('meta')) ?>
<?= $this->formCollection($this->form->get('general')) ?>
<?= $this->form()->closeTag() ?>