I have done this with other linux flavors, but it must be similar with Mint.
You need to have gcc,make,automake and all of its dependencies installed or you will fail at step 1.
First download the kernel from kernel.org and extract it. attach all devices you ever want to use, or have to recompile later.
Get into the folder you extracted the kernel to
make localmodconfig - Update current config disabling modules not loaded
make -j 4 make -j 4 modules make -j 4 modules_install make install reboot.