I have seen such a customization for a few Africa Twins. Actually it was not to replace the foot brake pedal by a hand brake lever but to have the hand brake in addition to the foot brake. It was a highly sophisticated solution where the brake cylinder of the foot brake was modified to accept the brake line of the additional hand brake. As it interferes with the structure of the brake cylinder, it would not be legal by any means in the EU, but it was an interesting idea nonetheless. If you search the web, you will find a detailed explanation how it was done.
Another option could be to customize the bike like for disabled riders. This would be much easier, you only need to take a left brake lever including the brake cylinder (from Forza or Integra or the like) and to install a brake line to the ABS module. The foot brake including the pedal would then be removed completely. This should be feasible in the EU, but requires a special permit of the local vehicle registration authorities.