The link shared by GlinetteC shows how you can get the authorization form, DebAC.
Although, I'd also suggest reaching out to our Payments support. They might give you another way of how you can download the form so you can send it to your customers. Just open this link, and get the number under QuickBooks Online with Payments & Merchant Service Center.
I'll also share the reference on how to set up a recurring sales receipt. This will also show you a way of generating the authorization form after adding the credit card info and saving the template.
Feel free to reach out to the Community if you have other concerns.