I'm able to launch the GUI [ ... ] by a terminal.
Good. In that case, while the desired GUI window is open, the "Dock" (the "icon bar" on the — by default — left side of the screen) will show the icon of the application. (When you close the window, its icon normally disappears.)
But while the icon is in the Dock: right-click it, and in the appearing context-menu click "Add to favourites". This will persist that icon in the Dock.
To conveniently find the launchers of further programs you can follow this procedure:
- Hit the left-side "Windows" key
- this opens up the Activities Overview screen with a search field near its center-top.
- Type the first few letters of the desired application's name
- This will offer up the icon of the application.
- Even when there several results, the desired application's icon often shows up in the first place, already indicated as selected, by a faint lighter-shade rectangle around it. In that case it's enough to hit Enter, and the program launches.
- To get your application into the first position in the result set, input just the next character of the application-name to allow for a closer match.
This, written down as such, may seem complicated, but in actuality it's goes really fast...
You can customize what will be part of this search-result set on the Activities Overview screen by opening the "Settings" app, and selecting / deselecting items on the "Search" tab.
If you, after all this, for some reason still want to put application launcher icons on your desktop, you can read this thread: How can I create launchers on my desktop?