As suggested by Peter Thomas, I found the below to be able to submit requests via Oath 2.0. In my case, I also had to install a required certificate in order to receive a valid response. you also have to take that into consideration.
Given path 'uaa', 'oauth', 'token'
And form field key = 'value'
And form field key = 'value'
And form field key = 'value'
And form field key = 'value'
When method post
Then status 200