This plug-in interface is subject to change a LOT, so don't don't be surprised if something stops working….
To make a plug-in, first download and install the Xcode QS Plug-in Template.
You'll also need a developer copy of Quicksilver. Make sure you have at least Xcode 2.4.
Sample Code: Sherlock Module
It is also possible to write plug-ins for QS using PyObjC. Note that this approach does not require Xcode, but it has its own set of alternate requirements.
QSPlugIn Naming and Identifiers
Plist Specification - Quicksilver uses an set of Info.plist entries to define what features a plugin provides.