Does Collect work to collect a fee for HubSpot form submissions?

In short, where you want a HubSpot Form to take payments, Collect can do that. But it's not actually a HubSpot form; it just behaves like one.

How Collect works is that it brings Stripe payment screens into your HubSpot pages.
 
To the end-user on the front end of your site, it would behave just like your other HubSpot forms.
 
For you, behind the scenes inside HubSpot, Collect modules that you download can all be placed on your pages like any HubSpot modules do (eg Forms). You can read a bit more about the different types here.
 
So, in short, where you want a HubSpot Form to take payments, Collect can do that.