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The full solution for what you're asking would be to setup your own instance of the buildfarm and build the subset of the packages you want targeting the platform(s) you want if you want to have individual debian packages for each package.

However there's a level of commitment that requires which may be more than you're looking for. For a lower weight approach I would recommend not trying to package and distribute things at a per package level but at the workspace level. You can tar up the install directory and then untar it onto the destination like we do with what we call "Fat Archives": https://index.ros.org/doc/ros2/Installation/Rolling/Linux-Install-Binary/

If you want to use the debian pipeline for sharing you could relatively easily extend these archives into a debian package using tools like checkinstall and manually adding the little bit of metadata necessary or manually generate the debian packages of the aggregate results. Again this is possible on the per package basis, but again you would have to sequence everything manually which is why we have the automated buildfarm systems for doing this.