Windows Installer can install services with its built-in functionality, butVisual Studio setup projects don't provide IDE support for that, so you use custom actions with installer classes instead.
There's also a standard action ScheduleReboot that you can add to the install execute sequence wit a condition of 1 to cause the install to prompt for a reboot at the end, but that's not supported either, so you'd need to use Orca to edit the MSI file.
Looking at the Windows Installer documentation won't help in many cases because Visual Studio setup projects don't have IDE support for many of its capabilities.