As long as you are not adding any spices, oil, salt, or sugar - feeding raw or cooking for your dogs is fine as long as you can handle the time and money it takes. There are several recipies online that you can check out, mostly lamb and chicken based diets as well as supplementary additives to supply glucosamine or DHA.
Check this out, maybe it will give you a start
http://www.rawlearning.com/rawfaq.html