it's not possible. You would have to create one from the beginning and make it compatible with software and hardware.
You should be able to cheat the iPhone and it is too complicated.
If you want to repair it, take it to apple and do not say it opened. Another option is to wet it, Apple usually change them for another without looking much (at a price that is around 50% of the total value)
I do not know solutions to repair touch id on iphone 5s, I'm afraid we should wait a lot for a solution on iphone 7
edited: It is now possible to retrieve the home function with an aftermarket home button. This does not restore Touch ID