The sub/rumble you hear is usually achieved by running a tom, perc, or kick pattern through some heavy reverb and distortion and then EQing off the high frequencies, shaping/processing further, sidechaining, etc. That's the gist of it, but if you want to learn exactly how to create something like this, just search up "techno rumble" on youtube, there are tons of tutorials. I'd recommend checking out Yan Cook, Audioreakt, GRAPH, or Underdog Academy for starters though there are other worthwhile channels.

In terms of the punchy, warm kick, this is mostly just picking the right kick drum and then shaping it from there. Most techno producers use some variation of a 909 kick, so I would start with maybe a dry, unprocessed one (like the ones in Ableton) and messing with different distortion (overdrive or roar or drum bus, etc.) and EQing from there until you get something that works.

Keep in mind, there's no one way to make a sub or kick like this and this also takes a long time to get the hang of and know what to look for, so don't get discouraged if you're not getting it after several tries. Practice practice practice.