If you want to get a fruiting plant of a variety as quickly as possible, get budwood from the mother tree.
If you cant do that, budwood from a mature seedling,as you say, will get you there, but maybe not quite as fast.
All that said, it depends on the cultivar too, you have to be sure your seedling is highly likely to be true to type, some seedlings of some varieties wont be true, and even then, "true" seedlings might show slight variations.
Seedlings may tend to continue to show juvenile characteristics when budded onto stocks, ie thornyness and vigorous shoot growth, compared to the original budline.