This is actually a WordPress built-in feature, extended by WooCommerce.
First, access Settings > General and look for the option called Membership, and make sure “Anyone can register” is enabled eg: https://d.pr/i/qyvyYk .
Afterwards, access WooCommerce > Settings > Accounts & Privacy and make sure checkboxes are checked based on your needs eg: https://d.pr/i/jsDcof .
Doing these will enable registration form in the Account panel.