Inside TYPO3
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3.5.6. Creating new backend scripts
If you want to create a new backend main- or sub-module, create a new CSM item or a Function Menu module the best way to start yourself up is to use the Kickstarter. In a few clicks you have configured the basic framework and you get all the tedious and error prone work done for you automatically. Immediately you can begin to concentrate on the coding of your backend application.
In the Kickstarter, the menu items for backend scripts are found here:

For details on actual extension programming (which will also cover backend module programming), please refer to some of the extension programming tutorials around.