Kubernetes: Modify source code and deploy (two worker nodes)

I'm working on testing some node denial logic inside Kubernetes. i.e. marking certain node as invalid in some scenarios. In order to test this, I need to setup at least two worker nodes so that I can verify the pod in the invalid node can be replicated to the other node.

I've used kubeadm to successfully setup one master node and two worker nodes (worker node runs in a VM). However, is there a way to test/deploy my changed code locally (I changed the code in kubelet and controller)? For example, can I build the kubelet binary from my workspace and replace the one under /usr/bin/ and restart kubeadm? How about the controller-manager?

Thanks