How do I add Icon on toolbar to Create PDF from scanner? I am having to go through multiple steps to complete thi

You have a "Create" button on the toolbar:

Once you click that, you can select to create from scanner:

That's the only toolbar related shortcut you have. You cannot add a button that goes straight to the scanner.

Karl Heinz Kremer
PDF Acrobatics Without a Net
PDF Software Development, Training and More...
http://www.khkonsulting.com

To do what you want you need to create a folder level JavaScript to add a tool button as an Add-on Tool and execute the Scan menu item.
After creating and saving the script in the right folder and after closing and opening Acrobat, you can add this add-on tool to the Quick Tools Toolbar.

The folder level JavaScript can be as the following example for scan preset 1 (autodetect color mode):

app.addToolButton({
    cName: "scanPreset1",
    cExec: "myScan(1);", //1 for preset 1 and so on
    cTooltext: "Autodetect Color Mode", //preset 1
    cEnable: true,
    nPos: 0,
    cLabel: "Scan: Autodetect"
});

function myScan(p) {
    app.beginPriv();
    app.execMenuItem("ScanPreset" + p); 
}
app.trustedFunction(myScan);

After saving the script above as a .js file in the appropriate folder, close Acrobat and open again and you should see a button under Add-on Tools panel at right, and you can add it to the Quick Tools Toolbar.

You can create a button for each of the 5 preset options you want to have at the Add-on Tools pane/Quick Tools Toolbar.

For more information on creating a folder level script, take a look at this tutorial:
http://acrobatusers.com/tutorials/folder_level_scripts