Other scientists can correct me.
Some developmental genetics would be required. If we know enough about our own genetic code we might be able to take that and start the process of transgenics slowly into a real hominid. We first change the limbs, if they do behave, then go for the hands.
The mind on the other hand would be more challenging. I mean, we can try to focus on the process of language and accompany simple utterance with understanding of commands to get the uplifted to communicate and follow orders.
But anyway, we can breed animals into take a more humanoid shape and on the course of thousands of years you'll get that. The wait wouldn't be so fun though.
