The process for listing a Variation Listing is the same as listing a non-Variation listing.
Navigate to Listings > Unlisted Products > select the parent product and click the queue listings button. You can edit UPC and variation price while the listing is in "Queued" status. You can find a detailed overview of queuing listings here.
To move the listing from "Queued" to "Active", Navigate to Listings > Queued Listings > Select the Parent Product and Click the Submit Listings Button. Note: You can edit UPC and variation price while the listing is queued.