Is there an easier way to put an app into the panel?

[Brian Kendig]

I want to copy some of the apps from the Xfce (4.2) applications menu  
into the panel, for quicker/easier access.  But I'm getting tired of,  
for each app, trying to figure out what command line starts it and  
where to find its correct icon.

Is there a simpler way to tell Xfce "take this app that's in the  
applications menu, put it into the panel too"?