Only thing you need for this is:
1. An idea and some knowledge about electronics
2. An EDA software where you design the schematic and the PCB (Horizon EDA, KiCAD, Eagle, ...). This software will give you the Gerber files needed to manufacture the PCBs and the BOM (Bill of Materials) and a Pick-and-Place file which is basically just a CSV telling the manufacturer which part goes where and in which orientation.
3. Using the BOM you find corresponding parts the manufacturer has and put create a CSV that matches their format requirements
4. You order (e.g. I ordered at jcbpcb)
The electronics knowledge is the hardest part.