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Spacemacs, Doom and so on use Evil. It provides evil-ex-define-cmd for this purpose, check out evil-maps.el for examples:
While the answer to your question maybe specific to Doom, it is highly likely that knowledge about evil in Emacs will be enough. Here is how in evil, a new ex command is defined : https://github.com/noctuid/evil-guide#ex-command-definition
NOTE:
The number of mentions on this list indicates mentions on common posts plus user suggested alternatives.
Hence, a higher number means a more popular project.