Custom Sidebars

Is there a fast/easy way to create individual sidebars for pages within the theme. Ex: I would like to have one page display a sidebar that has related video and on another page display a sidebar that displays a separate related video. I have found the generic WordPress instructions on how to do this but am unsure how to implement it within the do_action structure of this theme without making it really complicated and I have several pages that I would like to achieve this setup with.