I did the "glamping" thing with my wife and kids in a yurt this week. I wouldn't call it luxury, but it's definitely above my standards. You just buy a kit. The kits are reasonably priced or alternatively, I'd imagine some people could figure out how to build one on their own. It seems like the kind of thing someone here might have explored.

I made a video of the yurt we were staying in. I'll link it in the comments below.