It would likely just be craft (waxworks). The making of candles is obviously a wax project, but even old fashion incense was made by mixing powderized smelly stuff into molten wax (or other binding agents) in copious amounts and then when it cools and hardens, rolling and cutting it into the appropriate shapes.
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Incense combustible base
Reading Wikipedia (not the best in deep source, but it should suffice for a game) you don't use wax to make incense sticks.
Looking for a game reference, we find Memory incense, that requires Craft (Alchemy) to make.
I checked a few other kinds of special incense, and they all seem to be alchemy items.
The hard part of producing incense is gathering it, not making the burning stick.
The craft skill is pretty much a fill in the blank skill. The books lists some common craft skills to give you ideas, but you can pretty much make up whatever you want. Some craft skills like craft alchemy are fairly important so get some coverage in books. Some items list the specific craft skill needed to make them. If the item you want to make is not in the list it just choose an appropriate name.
For Incense I would simply call it craft incense and leave it at that. This is not a homebrew solution it is the way the skill was designed. There are too many potential craft skills to list in the book, and for the most part it makes no difference in what you are making. From a rules perspective making a painting and making a wagon is the same thing. The cost of the materials and the item you end up with may be different, but the rules are the same.
As far as the DC to make incense or scented candles goes, I would probably go with somewhere between a "Typical item" (DC 10) and a "High-quality item" (DC 15), depending on how simple or complex the scent (or blend of scents) is. Depending on how specific you want to get with the Craft subskills, you could go with Craft (Alchemy) or require separate ranks in Craft (Incense) and Craft (Candlemaking).
I just want to add two things:
1) The Craft skill can be used untrained, so a character doesn't necessarily need ranks in a specific craft (depending on the DC). Also, taking 10 on the Crafting check is allowed in most circumstances.
2) Crafter's fortune grants a +5 to the Craft check. If the "handyman" character is a caster (alchemist, arcanist, investigator, occultist, sorcerer, or wizard; or can gain spells from those class lists), has a friendly caster willing to cast crafter's fortune, or is able to obtain a custom magic item (command word crafter's fortune 1/day; 280 gp), then gaining that bonus is pretty much guaranteed.
Both of these allow characters with 1-2 skill ranks (or even none, with sufficient Int) to have a total Craft check modifier of +10 or more. Combined with taking 10, a Craft check modifier of +10 allows the crafting of masterwork items (DC 20) and the vast majority of other items (other than certain alchemical substances, composite bows with more than a +2 Str rating, etc.).
^Seconded. Biggest take away should be if it's for a very backgroundy thing that won't significantly affect gameplay, specificity is not necessary nor part of the design.