Click on the Create Manipulator button in the Rumba shelf in Maya.

Rumba Shelf

Then select the desired type of manipulator in the menu.

Manipulator Menu

The Rumba Default Manipulators option will automatically create a set of ready to setup manipulators respecting the naming convention. Note that a controller must be in the active selection to create a manipulator (this is also true for Rumba Default Manipulators).