Create a file ending with destinations-service.xml under your instance's deploy directory (or deploy/messaging if you like), e.g. my-jms-destinations-service.xml. It should look something like:
<?xml version="1.0" encoding="UTF-8"?>
<!--
Messaging Destinations deployment descriptor.
-->
<server>
<mbean code="org.jboss.jms.server.destination.QueueService"
name="jboss.messaging.destination:service=Queue,name=MyQueue"
xmbean-dd="xmdesc/Queue-xmbean.xml">
<attribute name="JNDIName">MyQueue</attribute>
<depends optional-attribute-name="ServerPeer">jboss.messaging:service=ServerPeer</depends>
<depends>jboss.messaging:service=PostOffice</depends>
</mbean>
</server>
Set the mbean name and JNDI name as required. Add more mbean definitions for additional queues, or split them across multiple *destinstations-service.xml files for easily deploying / undeploying queues independently of each other.