In art class, we used silicon for the mould. You have a square box (wood), start filling it up with silicon, place the object in the silicon.
Once cured, cut the silicone in half, create a whole to pour your material through. Hold the mould together with rubber bands or wire or string.
We made candles, so we poured hot wax, tap the mould to get the air bubbles out. Don't forget the wick, but if you're not making candles, that won't matter.
Once the wax dried, take off rubber bands and pull the item form the silicone. Shave off the lines make from the joining of the moulds.
I would assume that this would work for plastics. Cured silicone is pretty indestructible. However, I don't know the temp to melt plastic vs temp to melt silicone.
Also, this was for one large mould, I'm sure it can be scaled down for smaller parts. Just remember, that melted plastic is a carcinogen, so work in a well ventilated area and wear a breathing mask.
I've entertained making TF parts this way, but never got around to it.