Setup
To get started, enable the following privileges for any role(s) that need to be able to request the signature from External Users:
Privileges
Settings > Provider Build > Maintain Privileges > Forms:

Is able to add additional form signatures.

Enable the ability to request form signatures via email.
Watch - Configure SETWorks to Allow Users to send a Signature Request to an External User
Please watch the following video for a demonstration on how to configure SETWorks and create a signature request: