Add article to transactional publication without generating new snapshot
You can add the article through SSMS using the GUI and even apply filters to it. As long as you do not change any of the other properties of the article you will not need to generate a full snapshot.

When you hit OK in the publication GUI (after adding the article), it will close without prompting to reinitialize - if it does prompt to reinitialize, then you have changed something which requires a FULL snapshot. If that happens, hit cancel and try again.

After you add the article you can simply start the snapshot job and you will notice that it only generates a snapshot for the new article (called a mini-snapshot).

Then check your distribution job, and notice that it created the table at the subscriber and bulk-copied your data.

Good luck, and let me know if you require further assistance.