<p>We have a number of very old data entry forms that were made in Access that link to our SQL Server database. Each form may have any number of sub-forms.</p>

<p>We'd like to move away from using these access frontends but don't have the time to create a new app or web app to replace every form that we've got.</p>

<p>Is there another option that would link to SQL Server and allow visual design of the form and automatic linkage to the database?</p>

<p>Or if that's too much of an ask, can you think of a way to make hand-coding the forms easier?</p>

From experience, I don't think you will find any product, tool or technology any easier than Access for creating forms with a DB behind them.
Do you have a copy of
Access Developer's Handbook
?   In the past, I found this a valuable resource for implementing best practices in quite complex projects with Access as a front-end to SQL Server.
If you want to move to web forms, I would take a look at
IronSpeed Designer