This is a huge question to answer, but in short:
- Pick a game engine
- Learn the game engine
- Write a story
- Create characters and a world
- Render the images
- Create the animations
- Release
For your first game, go with Ren’Py and create a visual novel. Nice and simple, make it kinetic.
Learn the Ren’Py language (Python) and then you can start to create your game.
Once you have a story, characters etc you can start to render the images in TheKlub17 (whatever that is) and any animations.
I know you said RPG Maker, but for a first NSFW game with no knowledge, this is overkill. There’s no advantage to making an RPG game over a VN, if you’re doing one for the first time.
That’s my two cents anyway.
Google is your friend for those steps.