How to create structured elements

I’m quite new here, so I hope this is not a too newbie question:

I’m currently developing a plugin and want a similar view like in Entries > Structures, so I can sort and create children of my elements:

At the moment I have my custom Element Type and added the elements in the structureelements table. I also created the view, but I don’t know how I can make them sortable and with child elements:

Could someone point me to the right direction how I can achieve this?