Can someone teach me?

I'm not if I understand the issue. From your homescreen if you longpress the menu button the keyboard pops up. You start typing a name in the searchbar. Contacts that match show up at the top of the list. takes you to the selected contact and then you call.You don't even have to go into the dialer.
 
Or you can get Google Gesture Search.

open it, scribble "s" on the screen, click scott, click green phone button.

less clicks than typing 72688 or any other method.

Would this not require me to set up a "gesture" or each contact?