I couldn't find any spoke which does exactly this, however you can implement this incident creation mechanism by a POST API call to https://instance.service-now.com/api/now/v1/table/incident

You can also explore this post operation using the REST API explorer. It will help you with the steps to prepare a sample request and create an incident on the fly. You can use the same request model on Salesforce and automate the incident creation via the aforementioned REST API call.

Source: https://docs.servicenow.com/bundle/tokyo-application-development/page/integrate/inbound-rest/task/t_...