+1 to what nevroustrig said, its a little daunting at first but I wouldn't have it any other way. Heres how I do mine..
Start with 5/16 or .3125" rod of delrin/peek..cut off roughly .5"-.6" in length, find a method to center punch a starting point for your drill (various methods to this, I just used digital calipers locked at the radius of the rod, then circled it around and around till I felt I was centered and then made an indent with the sharp edge of the caliper)...
Drill stem hole to .115"~ and a depth of roughly .25". I start the hole out at .05"~ personally, and with a small dreme bitl I correct the hole if its off centered until my calipers give me a good reading going around the poppet, then drill to final .115"~ OD.
Using a .125" hss drill blank (my preference), grind a few slots like the stock poppet for an adhesive to rest in (I use loctite), grind the tip away slightly to allow the next steps to go smoothly, apply adhesive and press the blank/stem into the poppet. I like to warm my poppet up a bit as to make the pressing procedure go a bit 'easier'. Let it cure...
Now you can true the poppet up so that the stem is truly centered by chucking it into a drill and running it on 600~ or so grit, then smooth it up with wet 600 and work up to 1000~.
You can true the face of the poppet using various methods, I use a small dremel grinding disc wheel and press it against the poppet face while its spinning in a dremel. Toss the poppet into the valve and chuck the rear stem into a driill, and burnish the two surfaces together with light pressure and 20~ spins in both directions, nervoustrig likes to use sharpie on the poppet face to check for trueness which I have yet to try but if I ever make another poppet, I certainly will.
Toss the new poppet into the valve, measure roughly .15-.25" of stem out the back (stock is .25", i run .15 to obtain additional hammer throw), take poppet back out, remove excess stem, give a 45 degree grind around the edge of the poppet so the hammer doesn't 'flatten' it further causing it to stick in the back of the valve, and you're good to go.
I personally thin my valve stems down in the area of the throat prior to pressing them in, this allows you to run larger ports and smaller seat OD's, which in turn results in better air flow while keeping the valve easier to open, only worth considering if you run ports larger than .157" in a stock valve..