Hello,
1) There is no bar to your working or entering into a contract with one of the clients of the company you had been working for.However while you are still in employment you can not do so.
2) If you want to do any kind of business in partnership with the client of the company it has to be initiated only after you are relieved by the company after you tender your resignation.
3) Once you have resigned from the company you are not obligated to sign any Non Disclosure Agreement with the company. Such agreement is binding only while you are part of the organisation and limited your assignments while at work. No one can bar you from putting to use your skill for your gains.
4) Therefore first of all tender your resignation and once you get an acknowledgement of the resignation proceed with any collaboration with the prospective partner and ensure you enter into a beneficial contract.