Not located in Help, that I can find, but Command-M works
But, now, how to bring it back without having to go to Dock and click

Just being logical here, but, isn't the reason you'd want to minimize it so that you could see, and presumably work with, another window? That being the case, to get your minimized window to the front again, you'd have to click something anyway. (I don't know how the Dock works, since I'm not an OSX user.)