Yes. Any standard form, documents or custom forms can be assigned to one individual, a combination of individuals or to groups of people. Clients will only be able to view and access the forms that have been assigned to them.
In order to assign permissions, go to WEBSITE TAB > Forms and click on the "EDIT" command in the drop-down list to the right of a form. In the last tab "(3) Forms Permissions", you have to the right the permission list by the criteria of "Contacts" and "Groups". Select the contact(s) and/or the group(s) and click on the left pointing arrow to select them in the list to the left. When you are done, click on the "CONTINUE" button to save the changes.