How to create an inline web form


I would like to create an inline webform. I will have one text field component and submit button next to it. I like to add header and footer to the form. 


I got the form as:

Header top row (markup field)

text field 2nd row

Footer 3rd row (markup field)

Submit button 4th. 

This is how it looks like. How can I do it based on my design? I also tried to use .form-inline class. It did not work how I wanted. 

Drupal version: