Just go to the 'request money' tab, and fill in the person's email address, and the amount. I believe they will then receive an email, with a link to pay you.
It's been a couple years since I set mine up, but I believe you'd have to already have your bank info set up, since you've been using it.
And if you're required to open a vendor account, that's really no big deal.
And they do take a percentage, although I can't remember what it is. A fairly cheap price, to me, for the ease in paying or recieving money from others - safely and quickly.
The only problem I ever had with Paypal was when we had sold an item, the person received it, then tried to claim she didn't. Paypal swiped the money back out of my account immediately, while it was being investigated! I think it took about 3-4 weeks to get it back, even though I had everything documented.
Other than that - zero problems! :D