How to create a Quick Action to open the Create Record for a Custom Object

Summary:

We created a Custom Object called "Milestones" and we are looking to create a quick action so users can quickly create a milestone object directly from the homepage, like the quick actions for Create Opportunity, Create Lead, Create Contacts, Etc.

Where I am stuck right now is finding the task flow Id and secured resource name (which looks like the same as the task flow ID).

Any document that shows how to locate task flow id for a custom boject create layout?

Content (please ensure you mask any confidential information):

Version (include the version you are using, if applicable):