Creating a shipment in Amazon Seller Central is covered in this very helpful video series by Amazon Seller University.
Canada Prep & Fulfillment handles the majority of the FBA shipment process steps on your behalf. But, you will need to complete the first step: Creating your Shipping Plan in Amazon Seller Central. This first step is covered in the Fulfillment by Amazon: Your First FBA Shipment: Part 1 video (link below).