Vacu-forming is done with three things:
1) a Frame to hold the plastic.
2) A heat source to soften the plastic
3) An vacuum source to form the plastic
How complex and expensive it gets, goes up with size. I simple (one-off) method is a small frame that fits in your home oven to heat the plastic and formed by a vacuum cleaner, or shop vac. Naturally, this will make your house smell like burnt plastic for the day. You can form small things like model airplane canopies, or even helmet parts. The most forgiving material for this is High Impact Styrene (HIPS) as has a good temperature range, and gives a fair amount of detail. It must be painted, as it will yellow over time.
When you want to go larger/faster, you are moving up it price and complexity. A Shop-Vac will make good pieces, but a vacuum pump, and reservoir make better ones. Going larger also requires a better heat source. The important thing is consistent, even heat. You will end up building some type of oven to heat from the top, or from the bottom, depending on design. Since this involves wiring and use of electrial outlets, be sure to know what you are doing. You don't want to start a fire and burn your house down.
Then there are the forms, onto which you will form the plastic. These can be made from any heat resitant material. Wood, MDF, Stone or fiberglass will work. They don't last forever though, and will need to be replaced every so often. The best way to replace molds are to save a good pull, and use it as a mold to pour stone (Hydrocal) into, for more molds (forms)
Youtube shows many inspirations for tables and machines.