The TForm.OnTap event will fire each time the user taps (using fingers, not clicking with a mouse) on the form. Beware that, if there is a component under the finger of the user, the form's event handler will not fire and the handling will pass to the component.
The TapProject demo shows you how easy it is to handle taps on the main form and clone a TCircle instance in the touched position. This time, with respect to the OnTouch event, the event is single and the only argument passed to the event handler is the tap position (coordinates).
The following screenshot shows the TapProject demo running on an iOS device (iPhone):
In the previous screenshot, you can see the circles dynamically created each time the user (that is, you) touched the iPhone's screen surface.
The following snippet shows the OnTap event handler implementation:
procedure TMainForm.FormTap(Sender: TObject; const Point: TPointF);
var
LNewCircle: TCircle;
...