Given a system transfer function it is possible to derive a signal flow graph directly, but it is more convenient to first find a space model, and then move from the state space model to the signal flow graph.
Find a signal flow graph for the system described by the transfer function:
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Step 1: Find a state space representation using the methods described here (TF ↔ SS). In this case we are using a CCF form).
Step 2: Find a signal flow graph using the methods described here (TF ↔ SFG).
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Repeat the previous example, but reverse the order (i.e., do step 2 (SFG → SS) then step 1 (SS → TF)).
A better way do this is to use Mason's gain formula.