Is there a way to enter prudential retirement w-2? If so how?

I believe you may be referring to a W-2 for insurance benefits that includes an entry in box 1 and box 11. If so, you just enter it like any other W-2, you just leave the other boxes that you normally complete (2 - 6) blank.

If, however, you actually have a 1099-R, it goes here:

Federal > Wages and Income > Retirement