Craft Commerce - Create Order from Control Panel
There is currently no way to do this from the control panel unfortunately.

It's been said a bunch of times it's on the roadmap, and it's an oft requested feature.

I don't think there is a generalised plugin for this yet.  I doubt there will be as it's coming to core.  

It's certainly possible to write one, but it would be a fair bit of work.

(You could quickly hack something together in the form of a form that lists all your products and uses MultiAdd to add them to a cart in one go...but you'd still have to go through checkout to complete the order.  https://github.com/engram-design/MultiAdd