You would like to post the incoming messages to Twilio into Zoho Creator form. Twilio allow specifying a webhook url to post the message data when an incoming sms is received.
Yes, it is possible.
Step 1: Create Form fields to receive Twilio Response
Check Twilio’s webhook response parameters and create field names with exact same names. Refer tohttps://www.twilio.com/docs/api/twiml/sms/twilio_request