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Step-by-step build — 4 steps. Also available as a print sheet.
Measure the space under the bench and decide on one or two drawers — avoid a middle drawer, so each drawer can follow the bench legs and roll straight. Figure your drawer size from the opening, leaving clearance to roll.
Build a box from 1x boards — pocket holes, countersunk screws, or nails and glue all work. Keep it square so it rolls true.
Add the plywood bottom with nails and glue. For larger drawers step up to 1/2" or 3/4" plywood, and for especially heavy loads plan on a fifth center caster.
Screw casters to the base of the drawer and roll it under the bench to check the fit. Build the 1x3-and-1/2"-plywood face to overhang the box, attach it once the drawer rolls right (leaving a small gap so it clears the bench frame), and add handles. Finish to match the bench.