Creating a driver requires a deep understanding of some pretty low-level pieces of Linux. If you’re new to Linux, you should probably start with some “new to Linux” tutorials and get an understanding of some basic command line usage. Work your way up to being able to follow a guide on compiling the Linux kernel (without any of your own modifications). After that, you can seek out guides on creating a driver.
As a second note, fingerprint drivers are categorically difficult to work with, so this would really be jumping in on the deepest of deep ends. You can do it! But it will take a LOT of self-education.