[SalesForce] Inline editing DataTable in Lightning Design

What about combining the slds compound form with the pageBlockSection something like:

    <fieldset class="slds-form--compound slds-form--compound--horizontal">
        <apex:pageBlock >
            <apex:pageBlockSection columns="2">
                <legend class="slds-form-element__label slds-text-title--caps">{! $Label.LBL_008 }</legend>
                <apex:repeat value="{! $ObjectType.Contact.FieldSets.DatosBasicos }" var="f">
                    <div class="form-element__group">
                        <div class="slds-form-element__row slds-m-top--x-small">
                            <label class="slds-form-element__label slds-size--1-of-4 slds-col--padded slds-text-align--right" for="field">{! f.Label }</label>
                            <div class="slds-form-element slds-size--1-of-4" id="field"> {!contact[f] } </div>
                        </div>
                    </div>
                </apex:repeat>
            </apex:pageBlockSection>
        </apex:pageBlock>
    </fieldset>

New for Spring 17:

You can use the Related Record Component

Just add it in your app builder, then you can select an "Action" for current record, or for a related object record.

Let's say you want to create that for the Opportunity object. So for displaying specific records from the opportunity, add an "Update a Record" action to the opportunity object, then from the Opportunity record home app builder - add a Related Record Component, and select the Opportunity action that you have just added.

If you want to display account details of this opportunity - create an action for the account, and then from the Opportunity record home app builder - add a Related Record Component, and select the Account action that you have just added.

Hope this helps!