Yes, you can do this. I recommend the embed code for Marketo forms.
Just create a form and add the three hidden fields to populate from URL params and identify those params in the Form editor.
Then make sure your URLs are formatted properly. You may need to add special cookies/javascript in case your leads wander off the landing page, only to return later. If they do this, you will lose the url params.
And I should mention that in Marketo, create ONE form in Design Studio. Then place it on ANY page you want.
BUT, your smart campaigns should use Fills Out Form IS Form X on Page Y to ensure the right triggers happen.