A PDF download of the Malaysian passport renewal form is available on the website for the Immigration Department of Malaysia. The form is not available in English, so English speakers must translate it using online translation websites or with translation software for English speakers.
From the Immigration Department of Malaysia's website, hover your mouse over the Public link at the top of the page, and select Downloadable Forms from the drop-down menu. Click on Passport Application Form, the first link on the page, to open the PDF form in a new tab. From there, download the form in a browser, and print the form as needed.