Yes, you can. Go to Settings → Notifications and, under Form Owner Options, enable the option Insert Google Analytics code on the page. Provide your Google Analytics Profile ID in the box that shows up and your domain. Now, the page where your form is found is being tracked. You’re not required to paste an extra code in the form itself. This option automatically sets the form to be tracked in your Google Analytics account.
If you want to track your form in Universal Analytics, tick the checkbox Use Universal Analytics.
In order to view the activity associated with your form URL, log in to your Google Analytics account and select your profile. Go to Settings, on the top-right, and click on Reporting from the top line.
From there go to Behaviour, on the left panel. Next, go to Site Content → All Pages, then look for your form in the table on the right.
If you are not the admin of the website where the online form is embedded, contact the admin and ask for the Profile ID to be provided to you.
If you are the admin, but have problems finding your Profile ID, log into your Google Analytics account and click on the Admin tab. You’ll be redirected to a page that contains three columns: Account, Property and View. Select the website (if you use more than one) in the dropdown from Property and select the account under the Account dropdown. Next, hit Account Settings under Account.
The Profile ID is located under Analytics Account Settings → Basic Settings → Account Id. It’s an 8-digit code that you will need to copy and paste in Notifications → Form Owner Options → Google Analytics Options, with UA- in front. Here’s an example: UA-11111111