You can point your docker client to the VM’s docker daemon by running
eval $(minikube docker-env)
Then you can build your image normally and create your kubernetes resources normally using kubectl. Make sure that you have
imagePullPolicy: IfNotPresent
in your YAML or JSON specs.
Additionally, there is a flag to pass in insecure registries to the minikube VM. However, this must be specified the first time you create the machine.
minikube start --insecure-registry
You may also want to read this when using a private registry
http://kubernetes.io/docs/user-guide/images/