There are a few ways of doing it, although none of them are all that good.

One is to use one of the physics constraint entities, although it can result in glitchy physics.
I use a hinge constriant in my island map to attach a handle to the lantern inside the outhouse.

Another is to use a point_value_reampper entity, but that doesn't add physics to the effed, just direct movement.
https://developer.valvesoftware.com/wiki/SteamVR/Environments/Advanced_Interaction

I also scripted an (almost) physics enabled door that can be pulled by the handle to open it. It should be possible to modify the script to work on things like drawers too. The downside is that only pulling the handle will move it.

Sources for my island map is here if you want to see how the lantern and doors are set up.
https://github.com/Rectus/destinations_range/tree/master/island

thank you!