in lieu of taking a youth into custody, a peace officer may issue a citation to a youth for the same offenses and under the same circumstances that a citation may be issued to an adult.

Unless the citation is issued for violation of law or ordinance for which an order has been entered pursuant to 419C.370 (Waiver of motor vehicle, boating, game, violation and property cases), the citation is returnable to the juvenile court of the county in which the citation is issued.

Law enforcement agencies in a county, in consultation with the juvenile court of the county, may develop a form for citations issued pursuant to this section. The peace officer shall send a copy of the citation to the district attorney