We do not use a form - tried to in the past and most people 'forget' how to use it. :-)
I am in charge of Document Control. If there is a change request the requestor takes the form or procedure and writes the changes on it, with a date and their initials. An email with the requested changes also works. I then make the changes (if they make sense and we agree on them) and keep the original documents along with the newly revised one in a document change request folder.
On each document I have a history of changes. So if an auditor requests to see that specific change request, I can refer to it in the folder by date.