You can use the convenient keyboard shortcuts - the "H" key selects the hand tool. The Tools menu contains all the shortcuts.
Another option is to right click at the location using the hand tool - select "New Waypoint" and the hand tool will remain in focus. You can edit the waypoint details by left clicking on the name in the waypoint label.
Personally if I'm planning something I tend to create all the waypoints first, then move on, so it's simple enough to use all the icons on the toolbar.
