There are online tutorials for signing your kernels, ex.

https://ubuntu.com/blog/how-to-sign-things-for-secure-boot
https://gloveboxes.github.io/Ubuntu-for-Azure-Developers/docs/signing-kernel-for-secure-boot.html

If you just want to try your customized kernel you can just disable
secure boot (https://wiki.ubuntu.com/UEFI/SecureBoot/DKMS).

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https://bugs.launchpad.net/bugs/1931970

Title:
  how can I build ubuntu linux kernel package ?

Status in linux package in Ubuntu:
  Incomplete

Bug description:
  I get 
https://kernel.ubuntu.com/git/ubuntu/ubuntu-focal-signed.git/tree/?h=Ubuntu-5.4.0-75.84
  and https://kernel.ubuntu.com/git/ubuntu-stable/ubuntu-stable-focal.git/,run 
fakeroot dh binary in the source tree but I didn't get 
linux-image-signed-xxx.deb ,the linux-image-unsigned-xxx.deb has built only

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