i want to stop a freely moving game object (Using Rigid body) at any instance and in any direction but latter on after some time i want that Game Object to move in same Direction and Same Speed

You're already doing it without realizing you're doing it. By setting the velocity/angular velocity to zero, you're essentially overriding it to be a value. Simply do the same thing again when you want to start it back up again.

Create two variables that store the objects velocity and angular velocity. Right before you stop the object, assign the current velocity and angular velocity of the object to these variables and use them when you want the object to start moving again.

 private Vector3 savedVelocity;
 private Vector3 savedAngularVelocity;
 
 private void StopObject()
 {
     // Save the current values
     savedVelocity = objectRigidbody.velocity;
     savedAngularVelocity = objectRigidbody.angularVelocity;
 
     // Stop the object
     objectRigidbody.velocity = Vector3.zero;
     objectRigidbody.angularVelocity = Vector3.zero;
 }
 
 private void StartObject()
 {
     // Using the saved variables, reassign the values
     objectRigidbody.velocity = savedVelocity;
     objectRigidbody.angularVelocity = savedAngularVelocity;
 }