You still need to create somehow your YAML file or use what you have already. Of course you can prepare some templates and reuse them and if you define folder structure for your project and you will keep it then you will minimize yoour manual tasks. Once you have your YAML file defines you can use for instance az cli command:
az pipelines create --name 'Your pipeline name' --description 'Your pipeline description' --repository https://github.com/your-repo --branch master --yml-path your-file-in-repo.yaml --org https://dev.azure.com/your-organizaton --project 'your project'
From what I see this is not possible to use REST API to define YAML pipelines. Please take a look here.
So if you use calssic build it will be possible to use REST API. You can take a look here.
POST https://dev.azure.com/{organization}/{project}/_apis/build/definitions?definitionToCloneId={definitionToCloneId}&definitionToCloneRevision={definitionToCloneRevision}&api-version=5.1
You can for instance indicate here which definition should be cloned as a base for your new build.