A simpler method that answers the original question "How to use local docker images with Minikube?", is to save the image to a tar file and load it into minikube:
# export the docker image to a tar file
docker save --output my-image.tar the.full.path.to/the/docker/image:the-tag
# set local environment variables so that docker commands go to the docker in minikube
eval $(minikube docker-env)
# or if on windows: @FOR /f "tokens=*" %i IN ('minikube docker-env') DO @%i
# import the docker image from the tar file into minikube
docker load --input my-image.tar
# cleanup - put docker back to normal
eval $(minikube docker-env -u)
# or if on windows: @FOR /f "tokens=*" %i IN ('minikube docker-env -u') DO @%i
Then running the image involves a command like the following. Make sure to include the "--image-pull-policy=Never" parameter.
kubectl run my-image --image=the.full.path.to/the/docker/image:the-tag --image-pull-policy=Never --port=80