I have setup the Help Desk in the configuration settings. However, I can't seem to find any directions on the link for members to submit a ticket. Also, is it possible for one admin to assign tickets to other users?
You should see new tab - Helpdesk in member area. You can submit new ticket in this section. Regarding admin to assign ticket to user: Do you mean assign to other admins or user? Both is possible. You can create new ticket from admin interface for any user. And you can assign owner of ticket to any admin.