If you're using the out of the box form that is built by Kentico without creating a custom layout, this isn't possible. If you create a custom form layout, you can get closer but you still won't get the markup you're showing without customizing the form controls themselves.
The default markup Kentico renders for any form control has a div wrapper on it. So best case scenario would be something like this:
<div id="first-name" class="form-item">
<label class="EditingFormLabel">First Name</label>
<div class="EditingFormControlNestedControl editing-form-control-nested-control" type="text">
<input type="text" maxlength="200" class="first-name-field">
Note each of the actual labels and input controls have div wrappers on them. This is out of the box functionality. As I mentioned, you can adjust the layout but there are some elements you cannot modify unless you create your own custom form control to handle this.