The only way I can think of, would be to run a Form Submission Overview report in Insight for the specific form you are looking for. Once you have the results you should be able to click on the the Total Form Submissions, which will give you a prompt for a contact/account/visitor report. From there you should be able to run that report and it should give you what you are looking for.
If you want a single report without all of the extra steps, then you would likely need to have an analyzer license and create your own report based on the form submission data report. This would allow you to have the form submissions and the relevant contact data you require.
If the analyzer license is not an option for you, like Ryan Schwartz mentioned, you could pull the submission data from the form to get the date of submission and then build a segment to pull all of those submissions into a list that you could match-up manually.
Hopefully the first option will be suitable for you needs.