Custom Post Type UI, or CPT-UI for short, is a free plugin for defining Custom Post Types and custom taxonomies. The plugin has more than 900,000 active installs and works well with Advanced Custom Fields. The plugin is available from the WordPress plugin directory and there is documentation available.
CPT-UI makes available all of the setting options you might need. Although the long page of options may seem overwhelming, the long list of labels can be left at their defaults and ignored.