Glad to have you here in the Community, @sriharsha_s.
Yes, you can go to the Customers menu and create an estimate from there. I'd be glad to walk you through the steps.
Before we start, you'll have to make sure that the Estimates feature is turned on so you can create an estimate. Here's how:
Once done, you can now create an estimate. Please follow the steps below once you're ready:
I've got you an article for more details: Create an Estimate.
You might also want to read this article to learn how to create an invoice for an estimate: Create an Invoice in QuickBooks Desktop.
Just hit the Reply button if you have any other questions. I'll be right here to help.