How to create a DEM or DSM file?

You can get a DSM/DEM for terrain following…

Or you can make your own in QGIS (its free).
there are several YouTube videos on this… but here’s one to get you started. https://www.youtube.com/watch?v=r9Zy9XFOf9o

If you’re a survey firm… I’d need to know what software you already have… odds are you can use that. ie TBC, AutoCAD/ReCAP, ESRI GIS… ect… all have features that enable this.
Also it slightly depends on what type of DEM/DSM you want… raster or triangulation surface?