Heres a rack me and my brother have been working on. I will post more about it once its finished in the next few weeks. You should have no problem building a great rack with the tools you have, we only have a welder, a cut off wheel, and a manual bender.
I would suggest finding a rack you like the dimensions and design of and going from there. We crossed the dimensions of a GOBI with the baja racks design and came out with this. Also, for the mounts we fabbed up some simple gutter mounts, do a google search and you'll find plenty of ideas for how to make some real easy, strong mounts. If you need I can probably get some of how we did ours.
07 Tacoma 2.7l, 5spd, a camper, and lots of skinny pedal
98 XJ 4.0, 5spd, tires, and stuff