You can purchase InstallShield, the market leader for creating installation packages. It offers many features beyond what you get with freeware solutions.
If you don't want to learn the Windows Installer fundamentals, then you'll need some wizard type package to hide all the nitty gritty details and hold your hand. There are plenty of options, some more expensive than others.
InstallShield
Advanced Installer
MSI Factory
etc..
However still I'd suggest picking up the above book and taking some time to understand what's going on "under the hood", it'll really help you figure out what's going wrong when customers start complaining that something is broken with the setup :)
In Visual Studio (including the free community editions) you can install the Microsoft Visual Studio Installer Projects extension [1] which allows you to create an MSI installation package. To install it from within Visual Studio:
Go to Extensions -> Manage Extensions in the menu bar
Search for Installer Projects in the search box
Select Microsoft Visual Studio Installer Projects and hit Download
Restart Visual Studio
Once the extension is installed, you'll create a new project that will contain all of the files and settings for the MSI. To do this:
Go to File -> New -> Project in the menu bar
Change the drop down menus visible to show All languages, All platforms, and All project types respectively
Scroll down in the project type list and towards the bottom select Setup Wizard: Create a Windows Installer project with the aid of a wizard.
Hit Next.
Work through the prompts to choose the installer project name and location. Choose Create a setup for a Windows application at Step 2 and in Step 3 choose the executable and other files that should be included in the MSI (hit Add..). At the end, hit Create.
To build the actual MSI go to Build -> Build Solution in the top menu, and you should see a message like the following in the Output window:
What's created by default is a very basic MSI, but for additional configuration like creating custom actions, adding/changing registry keys, configuring the user interface associated with the MSI, etc., see the full documentation [2]