As simon marc said, the process is much the same as it is for you or I browsing a website. If you are comfortable with using the Zend framework, there are some easy to follow tutorials to that make life quite easy to set things up. The hardest part of building a restful api is the design of the it, and making it truly restful, think CRUD in database terms.
It could be that you really want an xmlrpc interface or something else similar. What do you want this interface to allow you to do?
--EDIT
Here is where I got started with restful api and Zend Framework. Zend Framework Example
In short don't use Zend rest server, it's obsolete.