In the "New Thread" screen, there's an option at the bottom for posting a poll along with the thread. Unfortunately, they can't be added later except by a mod.
To add a poll while you're creating a thread: After you have typed all of the contents of your thread, check that 'Add poll' box at the bottom of the 'Create Thread' screen, type in the number of options you'd like to have, and then click 'Submit Thread'. Your thread will be posted and you will be taken to a screen to enter your poll options. To add a poll after you've already posted a topic: RainbowMan's right - you can't add it after the topic has already been created. You can create a thread in the Ask the Staff subforum with the poll specifics: the question, the poll choices, etc. and we'll add it for you.