Yes the perthmint will custom make coins/rounds the cost is pretty much spot +$15, minimum 1000oz, then you have the dies about $2k, then shipping, to get legal tender status is more again and yes there is regulation for a legal tender coin, also adds months to the process.
Private mints in the USA have about the same charge on dies but can land 1000oz for about $4 over spot, average quality, just bullion.
Private minting in Australia - SBA is your best shot, bit cheaper than the perth mint however not the same quality, but better than others.
We (SGB) are now getting pretty good pricing on dies, our 6th die for design is being done now, having so many done we get a good deal.
There is no easy or cheap way to do it.