Hi Karina,
Once a member is removed from a replica set in the MMS UI, it becomes a standalone process. (As you describe)
However, there is not currently a quick UI hook to add a specific standalone process to a replica set.
You can however add a new member to the replica set, by clicking on the Replica Set item, and modifying the replica set's Member Options.
You will be able to select which server the new member ends up on, by using the dropdown above the member list item.
You may want to shutdown and unmanage the standalone process before adding the new member. If you want the new member to use the same settings, e.g. dbPath/port as the old member, you may have to edit the new member process in the process editor screen before deploying the changes.
Let me know if that helps,
Dennis