The workflow in Altium which I got used to for 2 years was that when you make a custom component, you make all the stuff at once - the schematic symbol, then a footprint, and assign pins etc. which makes sense to me.
The workflow in KiCAD which I've been using now for about 1-2 weeks is totally different. You do the schematic, and have schematic libraries, and then you make a net list and assign footprints. The footprints may not exist yet, so you can make them at this point if you have not already made them. You can do altium-like workflow if you try really hard, but KiCAD does not make it easy, and documentation/YouTube videos are all using old versions so you can never really get a good concrete way of doing things. That is the glory of an ever-changing open source project.
There is a magical footprint wizard which has an icon up the top in the footprint editing program in KiCAD. The footprint wizard was useful to me to make SIP pin headers quickly. There IS a QFN footprint maker in the wizard, but maybe not a QFP - have a look.
Otherwise I suggest you learn how to make a footprint pad-by-pad, and using the datasheet by the manufacturer and their "suggested pay layout" which is almost guaranteed to be there, or it's a standard footprint diagram you can get from elsewhere.
The easiest way to do it in KiCAD is to set the "user grid" to the correct X and Y pitch so that you can just plop down the first set of pins, and then change the grid again to get you to the side set of pins, and then top, and then the remaining side. The problem with KiCAD is it's hard to measure stuff, and the grid settings are so awkward to get to, but you always have to use them - there may be hotkeys you can bind.
One of KiCad's most powerful, but also subtle (and potentially frustrating if you don't notice) features is it's grid and movement system.
When you move a part, which part of it is under the cursor and which thing you select is important. There are multiple possible anchors for any given footprint, and the one you move or place it by will always be aligned to the grid, so be sure to chose which anchor point you move it by wisely.
If you select the center of a footprint, then the center will be moved on the grid, and aligned to the grid. If your grid is 1.27mm, but your part is an 8 pin SOIC, then moving the footprint by the center crosshair (the transparent 'ghost' of the footprint will be locked under the cursor to indicate by which anchor you're moving it by), then because the center of a SOIC falls half way between the two inner pins, all pins will be 0.635mm off the main grid, but the center of the footprint will be properly aligned to the grid. As it should be.
If you want the center of the footprint to be off-alignment, but the pads to be aligned to the grid, simply select any one of the pads, or have your cursor over one of the pads when you hit M for move. The cursor will lock to that pad's center, and now THAT is the anchor point you're using. When you place it, the footprint will now be aligned to that anchor point, which in this case will put all the SOIC's pins in alignment with the 1.27mm grid, at the expense of the center of the footprint being off-alignment. Also as it should be.
You naturally can't do both with a grid size that coarse, though setting your grid to 0.635mm would also solve this. Though, sometimes there are times we want a coarse grid, and that's what makes KiCad's movement system so versatile!
Note: This anchor point selection system is universal. If you are doing rotation, especially finer grained rotation (45 degrees or 30 degrees for example, instead of 90), you'll notice that the axis of rotation is also always the anchor. So you can rotate a part around one of it's pins, or it's center.
It's also universal in the sense that it applies to one footprint or many footprints. If you select a block, any anchor point on any of the selected parts in a block can be used as the movement anchor, and entire groups of parts can likewise be rotated about an anchor as the axis.
Best Answer
In recent versions of KiCad there is a Footprint Library Browser, allowing exactly what you asked for. It can be opened from inside PcbNew via the menu option "View >> Library Browser".