Real easy as said, All you need is a sample player, record your samples and put them in that players library.
Example, I sampled my real drum kit, edited the wave files in a wave editor. And dropped those into Session drummers sample folder. Now Session drummer can play my real kit.
We needed a hammer hitting a railroad spike for a song. did the same thing.
Not sure how to make a sample of pitched instruments but sound effects and percussion are easy.