As the video discussed earlier, a block of air (called a parcel) containing water vapor rises from the heated surface. This process is known as convection. However, three other mechanisms form clouds.
With less pressure acting on the parcel, it begins to cool and expand. Once the parcel's temperature is equal to the dew point temperature, the water vapor condenses onto nuclei in the atmosphere, and a cloud will start to form.
Cloud Image Source: National Weather Service
Orographic Lift Image Source: University of British Columbia, Dept. of Earth, Ocean, and Atmospheric Science
Satellite Image Source: National Weather Service