The method I use is as follows
To create a prefab simply right click on the folder in your project view where you would like it to live (dont worry you can move it around later) select Create >> Prefab
![Screen 1][1]
This will make an empty Prefab "GameObject" and you can add various componets to it including your mesh, scripts etc. this can be done by dragging and droping or by having the object selected and clicking the "Component" menue at the top of the screen the main ones your looking for are under Physics, choose either CharacterController or Rigidbody
![alt text][2]
Once you have that added to your object you should be good to go, you may want to adjust some settings such as Use Gravity, Mass, etc. depending on what your trying to get done you will also use theses to manipulate your objects in the game world i.e. in a script assoceated with the object you may call somthing similar to
rigidbody.AddRelativeForce (forwardDirection * thrust * Time.deltaTime, ForceMode.VelocityChange);
There are a battery of tutorieals that demonstrate this in much more detail than I can here
2D tutorial ([How to make a game in Unity3D][3]) was useful for me but I am focus on 2D development at the moment.
[1]: /storage/temp/3220-clip1.png
[2]: /storage/temp/3221-clip2.png
[3]: http://www.rebelplanetcreations.com/downloads/Other/Tutorials/HowToMakeAGameInUnity3D.pdf
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