You can do it. It's very much read, and then copy and paste the instructions into your terminal for the most part.
The wiki breaks it down really well. But even shorter 1) you compile the program, then 2) you put it where tc can find it. There's a 3) write some metadata, if you want to submit it and share it with all of us, which is nice but you don't necessarily have to do that.
There is some variation in how people package their sources, but you'll learn as you go along. Most small things build without fuss. For large things you just have to make sure you have all the right dependencies downloaded from appbrowser.