Sure,
Here are the steps from that link that I used:
In order to create a quick launch icon in your desktop applications menu, issue the following commands in terminal. First change directory to /usr/share/application/ directory and create a new desktop application quick launcher based on firefox.desktop app launcher. The new launcher will be named mozilla-quantum.desktop.
Code:
cd /usr/share/applications/
sudo cp firefox.desktop firefox-quantum.desktop
Afterwards, open firefox-quantum.desktop file for editing and search and update the following lines:
Code:
Name=Firefox Quantum Web Browser
Exec=/opt/firefox/firefox %u