Creating bare feet for a miniature dolls house doll is no more difficult than creating hands. If you don't want bare feet, you can use the same method to sculpt ankles with shoes on the feet, just make the basic foot blank to scale and sculpt shoe details instead of toes and an instep.
Like the doll's head and doll's hands the feet can be sculpted from polymer clay as shown here, or you can use an air dry clay, paper clay or two part epoxy putty. Epoxy putty is recommended for doll parts below 1:12 scale.

