It's likely that self-signing will give you what you need; here is a page (link resurrected by web.archive.org) that provides a decent guide to self-signing if you would like to know the ins and outs of how it's done and how to create your own script.
The original script link from this response is unfortunately dead and I was unable to find an archive of it, but there are many alternatives for pre-rolled shell scripts out there.
If you're looking for something to support fairly full-featured self-signing, then this guide for 802.1x authentication from tldp.org recommends using the helper scripts for self-signing from FreeRADIUS. Or, if you just need quick-and-dirty, then Ron Bieber offers up his "brain-dead script" for self-signing on his blog at bieberlabs.com.
Of course there are many alternative scripts out there but this seems to give a good range of choices, and with a little additional info from the guide you should be able to tailor these to do whatever you need.
It's also worth checking the SSL Certificates HOWTO. It's quite old now (last updated 2002) but its content is still relevant: it explains how to use the CA
Perl / Bash script provided with OpenSSL software.