is there a way to have the answers to a form sent to you?

You can set up a flow like this: 

SMART LIST

Fills Out Form (Trigger)

FLOW

Alert - sent to your email

Then use field tokens in the body of the alert to include all the information that was in the form. 

In the schedule though, it seems like I can only choose to run the program daily, weekly, etc.  Is there a way to receive the alert instantly and have the program always checking for form fills? 

You need to make sure you have the 'fill out form' TRIGGER (little yellow downward arrow symbol), not the fill out form filter.
The trigger will allow for the alert to be sent to you each time a lead fills out the form.