Trapping ions in Paul traps require high radio frequency voltages, which are generated using resonators. When operating traps in a cryogenic environment, an in-vacuum resonator showing low loss is crucial to limit the thermal load to the cryostat. In this study, we present a guide for the design and production of compact, shielded cryogenic resonators. We produced and characterized three different types of resonators and furthermore demonstrate efficient impedance matching of these resonators at cryogenic temperatures.