I don't have any specific recipes, just a little info. My husband makes homemade sausages and brats all the time - we haven't made hot dogs yet. It is time consuming. Always yummier than store bought (we love to make interesting combos like apple chicken or chicken with sundried tomato sausage), but not always cheaper. You will definitely need a grinder. Before investing in an electric grinder, we bought a manual one. We have found a lot of the sausage making equipment - grinders and casing to be cheapest at sporting good stores, usually with the hunting equipment.. Many of the recipes will require fat. You will need to call the butcher dept and let them know what you are looking for. Fat is usually thrown away, so if they know ahead of time they will save it for you. It's usually free, but we have been charged a nominal fee for it as well.
There is a lot of controversy of what is "healthier" concerning a hot dog, but fortunately , there are lots of store bought choices available. You may have to look at a more specialized grocery store, but there are fat free, no nitrate added options. You can choose between natural or synthetic or skinless. Shopping around is another option.