How to add values to a row inside a table in Drupal

Thank you very much for your above response! I will look at it closer sometime today and give my feedback, I am stuck on a different part now.

On this part my end goal is I have to grab values form a MS SQL server and put them in a table (I have no problem getting the values from MS SQL and assigning them to variables. I can even get them into the table now with a great help from the code you provided but I want to be able to do this as a form (this way I can have multiple tables return on the same page). Right now I only get the first row into the table it is not looping for some reason, I should be seeing two rows not just the first one).

function dco_verification_forms_InventoryTableLookup_form() {
//....does a bunch of stuff like setting up connection string and what not....then we get to the below code
while( $obj = mssql_fetch_object($stmt1)) 

					$form['Inventory_Table_Output'] = array(
						'#theme' => 'table',
						'#header' => array( 
						// creating array that contains data from first cell
						array('data' => t('Assigned Date')),   
						// second cell 
						array('data' => t('Location Name')),   
						// third cell
						array('data' => t('Serial Number')),
						// forth cell 
						array('data' => t('UM Tag Number')), 
						// fifth cell 
						array('data' => t('Category Name')),
						// sixth cell 
						array('data' => t('Catalog Part number')),
						// seventh cell 
						array('data' => t('Note')),
							 
					  ),
					  
						'#rows' => array(
						array("$inv_assigned_date", "$loc_location_name", "$item_serial_number", "$item_um_tag_number", "$category_category_name", "$catalog_part_number", "$inv_note"),
						
					  ),
					  
				  );
				 return $form;
}

Above I'm inside a while loop so why is it only showing the first row in the database?

Now the other way I can actually get this table to work correctly is:

while( $obj = mssql_fetch_object($stmt1)) 
				{
				  
				// creating value that contains array  
				  $header = array( 
					// creating array that contains data from first cell
					array('data' => t('Assigned Date')),   
					// second cell 
					array('data' => t('Location Name')),   
					// third cell
					array('data' => t('Serial Number')),
					// forth cell 
					array('data' => t('UM Tag Number')), 
					// fifth cell 
					array('data' => t('Category Name')),
					// sixth cell 
						array('data' => t('Catalog Part number')),
					// seventh cell 
						array('data' => t('Note')) 	 	
				  ); 
				  // creating first row 
				  $rows[] = array( 
					// output of first cell in 1 row 
					array('data' => t($inv_assigned_date)),  
					// second cell 
					array('data' => t($loc_location_name)),  
					// third cell  
					array('data' => t($item_serial_number)),
					//fourth cell
					array('data' => t($item_um_tag_number)),  
					// fifth cell  
					array('data' => t($category_category_name)),
					// sixth cell  
					array('data' => t($catalog_part_number)),
					// seventh cell  
					array('data' => t($inv_note))   	
				  ); 
				  return theme('table', array('header' => $header, 'rows'=> $rows));
 
				 
				  
				}

Now I did notice in my menu option to get the second method to work I had to do this and with this method I can switch between the two methods mentioned above depending on which return statement I comment out:

'page callback' => 'dco_verification_forms_InventoryTableLookup_Form',

But in the menu if I put it as follows then it only works for the the first option (the one with $form) I'm not exactly sure why that is as I as still learning how Drupal works.

'page callback' => 'drupal_get_form', 
'page arguments'=>array('dco_verification_forms_InventoryTableLookup_Form'),

Now alternatively if we can't get the first method mentioned above to work (the one that has $form) then what I was trying to do (because at least in this way I can get it to loop though the table and show multiple rows was the following (the issue here is I have two tables I need to display on the same page and when I call the first return statement it will only show the first table (it shows it correctly with the loop but only the first how can I show multiple table?)

while( $obj = mssql_fetch_object($stmt1)) 
	{
	  
	// creating value that contains array  
	  $header = array( 
		// creating array that contains data from first cell
		array('data' => t('Assigned Date')),   
		// second cell 
		array('data' => t('Location Name')),   
		// third cell
		array('data' => t('Serial Number')),
		// forth cell 
		array('data' => t('UM Tag Number')), 
		// fifth cell 
		array('data' => t('Category Name')),
		// sixth cell 
			array('data' => t('Catalog Part number')),
		// seventh cell 
			array('data' => t('Note')) 	 	
	  ); 
	  // creating first row 
	  $rows[] = array( 
		// output of first cell in 1 row 
		array('data' => t($inv_assigned_date)),  
		// second cell 
		array('data' => t($loc_location_name)),  
		// third cell  
		array('data' => t($item_serial_number)),
		//fourth cell
		array('data' => t($item_um_tag_number)),  
		// fifth cell  
		array('data' => t($category_category_name)),
		// sixth cell  
		array('data' => t($catalog_part_number)),
		// seventh cell  
		array('data' => t($inv_note))   	
	  ); 
	}
	
while( $obj = mssql_fetch_object($stmt2))
	{
	  // creating value that contains array  
	  $header2 = array( 
		// creating array that contains data from first cell
		array('data' => t('Employee ID')),   
		// second cell 
		array('data' => t('UM Cell')),   
		// third cell s
		array('data' => t('UM Cell2')),
	  ); 
	  // creating first row 
	  $rows2[] = array( 
		// output of first cell in 1 row 
		array('data' => t($employee_id)),  
		// second cell 
		array('data' => t($um_cell)),  
		// third cell  
		array('data' => t($um_cell_2)),
			
	  ); 
	}
	return theme('table', array('header' => $header, 'rows'=> $rows));
	return theme('table', array('header' => $header2, 'rows'=> $rows2));

I apologize this is a lot of information, but I've been at it since yesterday and would really appreciate your insight (I have even read for method 1 the one with $from that I need to do the loop inside the submit statement but I couldn't get it to work), ideally I would want method one to work as it gives me more options to work with but if that is not possible could you tell me how I can have two tables show up on the same page I am guessing the return theme statement has to be combined/modified in some way to show both tables but I have not been successful in getting it to work. Any and all help will be greatly appreciated thank you very much in advance!