How to apply Panels layouts for CiviCRM pages
Most CiviCRM forms can be accessed with the Webform CiviCRM Integration module: https://www.drupal.org/project/webform_civicrm

Though the integration currently only handles on-site payment methods for contribution forms.

You can build a webform using fields from the CiviCRM form and then use panels to arrange the page, or use Webform Layout module (https://www.drupal.org/project/webform_layout) to arrange the form elements