How do I notify sales people when a form is submitted?

All internal communications regarding form submits, phone calls, etc are all managed in the Lead Processing workflows (Automation-Lead Processing).

Note:The Sales Notification Workflow is only editable in the Corporate Marketer package. You can still control who gets the leads by adding employees of your account to the Sales Distribution contact list (Contacts-Contact Lists).

This is a great article that will help you set up Sales Lead Notifications

Setting Up Sales Lead Notifications