If both parties agree and it's not related to child custody or support, a court will very often simply sign a stipulated order that is submitted for approval in proper form. Assuming there's nothing presently before the court for this case, it will likely be necessary to bring a motion to request the relief set forth in the stipulated order.

As I indicated in your other thread, if the parties stipulate and it's not related to child custody or child support, the court will normally approve the stipulated order.