Here's a quick tutorial on how to create a custom prompt from Copilot Studio
Sign in to Copilot Studio
From the left nav, select + Create
Select New Microsoft Copilot extension

Select Copilot for Microsoft 365

Select New action

Select prompt

Enter a valid prompt name
You can now start to create a prompt

You have successfully created a custom prompt from Copilot Studio
Documentation
Create a prompt | Microsoft Learn