There isn’t a pdf or help document, but the configuration is all found under Settings in the top right.
From there, in the Links tab you can create a New Group (1) and within a Group, you can create a New Link (2) to a method, file, etc.
In the Settings tab, you can customize the UI further.
Select Home in the top right corner when complete and the main screens will be updated with the new group(s) and link(s).
While this technically isn’t an official solution from Hamilton, many find it and its predecessor useful and much of version 2’s functionality has been incorporated into VENUS 6’s new UI.