If you are still inside the vi editor, you might be in a different mode from the one you want. Hit ESC a couple of times (until it rings or flashes) and then "i" to enter INSERT mode or "a" to enter APPEND mode (they are the same, just start before or after current character).
If you are back at the command prompt, make sure you can locate the file, then navigate to that directory and perform the mentioned "vi helloWorld.txt". Once you are in the editor, you'll need to check the vi reference to know how to perform the editions you want (you may want to google "vi reference" or "vi cheat sheet").
Once the edition is done, hit ESC again, then type :wq to save your work or :q! to quit without saving.
For quick reference, here you have a text-based cheat sheet.