Yes, there is a Simple Rest palette, but it doesn't save you anything at all. You would still have to use the mouse to click on the rest, and then click in the score. If you are using the QWERTY keyboard and numberpad to enter the notes, you just hit the numberpad to select the duration, the same as you would for a note, and hit the 0 to enter a rest. It doesn't get any easier.
How are you entering the rest of your notes? Have you done the tutorials?
PrintMusic 2004 - Finale 2014.5
Mac OS 10.11.4