Yes to get root stock , just plant seeds. with mangoes you you let the seedling grow about 8 months to a year, unless your doing epicotyl grafting, which in that case is right away.
traditionally a polyembryonic seed from a variety that are known to do well as rootstock are used. ( Typically "turpentine" in Fla ) . this way you will have consistent results,
but almost any seedling will do.
There are some threads discussing grafting techniques, use the handy search, Carlos has a nice video on Avocado grafting.