As given in mega-manual,
4.2.2.2. Creating the Project
You can create two types of projects: Autotools-based, or Makefile-based. This section describes how to create Autotools-based projects from within the Eclipse IDE. For information on creating Makefile-based projects in a terminal window, see the section "Using the Command Line" in the Yocto Project Application Developer's Guide.
I want to deploy a separate binary package, I don't want to create an image including my package. Isn't it possible to build a binary package like .ipk .deb .rpm using poky?
Yes, packages are always created. Autotools and Makefiles are for configuring/building software, so not really related to the question.
Use the PACKAGE_CLASSES variable in your configuration to select the package types you want to build with Yocto/OpenEmbedded. When you "bitbake recipe-name" the packages are built in the deploy directories under recipe WORKDIR.
Please don't expect the packages to be compatible with some other operating system though: they will be tailored for your specific configuration. If you already have an image running exactly that configuration, then it should be fine.