How can I add new values/items in a lookup field?

How can I add new values/items in a lookup field?

I know lookup fields can be used to create a one-to-many relationship between 2 forms.

I have a "Company" form (the "one" of the one-to-many relationship) and a "Issue" form (the "many").

When I am editing an "Issue" record and discover the necessary Company name is not in the lookup filed, I would like to be able to add the new Company name without leaving the "Issue" form, adding a "Company" record, and coming back to a "Issue" form.

I've seen several posts about limiting/filtering the values in the lookup field, but have found only one addressing this issue:  'Add new' button for lookup fields from October 2008.

Is there a way I can add a new Company name values from the lookup filed on the "Issue" form?

Thank you.