You can quickly add fiducials to a footprint by either using the Part Builder or by actually manually placing the fiducials.
Fiducials added to a footprint of called local fiducials as opposed to the global fiducials that are added to a PCB. Generally you will use these local fiducials only for locating the individual footprint and it would not be used for located other footprints.
Using the Part Builder
A court QFP device with no fiducials
Check the 'Add Fiducial' checkbox to add local fiducials.
A QFP device with 2 fiducials
Adding a Fiducial Inside a Part Editor
To add a local fiducial to a footprint inside the part editor click on the fiducial button in the add ribbon group and move the mouse cursor inside the viewport and click the left mouse button to position the fiducial.
Adding a Fiducial to a Placed Part
To add a local fiducial to a footprint inside the a project click on the fiducial button in the add ribbon group and move the mouse cursor inside the viewport and click the left mouse button to position the fiducial.
Next you need to place the fiducial inside the footprint. You can do this by first selecting the footprint and then, while holding down the shift key, selecting the fiducial that you placed and then by clicking and selecting the group menu item. This will move the fiducial inside the footprint.
Using the Parametric Part Builder you can add local fiducials to BGAs,QFPs, SOICs and DIPs
Check the button in the Properties Panel