There's a "Restart Server" button in the DevMode window (in the Google Plugin for Eclipse it's a pair or swirling yellow arrows).
It'll restart the webapp, reloading the compiled classes from WEB-INF/classes
and JARs from WEB-INF/lib
.
If you're using Eclipse, it should already be configured to compile classes to that WEB-INF/classes
folder so it should Just Work™.