Asp.net form, yes, basically in code you do a
TextBox myTextboxControl = new TextBox();
// Configure text box properties
MyPanelControl.Controls.Add(myTextboxControl);
You will have a hard time adding controls to a Kentico BizForm however, but it should still be possible by digging into the sub controls and replacing controls, not sure why you would though.
If you search Kentico's entire solution for ".Controls.Add(" you will find many examples.