On our jobs saw horses are cut out of 2x4 precut spruce studs. 96" / 3=32", so 4 studs make 2 saw horses with no waste and the right height. Sometimes they're a little off or split. No worries, they're pretty tough. There are many different ways to make sawhorses this is just how we do it.
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Choose your height based on your project, I'm partial to the saw horse kits you can buy from your local hardware store. Using some scrap 2x4's you can make a pretty nice collapsible/stackable sawhorse on the cheap. If you're not doing a lot of powertool work I like to make mine a little higher, with a sheet of plywood you can get a quick extra workbench when the project expands.
Also, it's nice to glue (never nail/screw) an extra piece of 1-2" scrap on top of the saw horse so if you set your saw too deep you don't saw through your hard work!
The height of a saw horse is chosen by the builder based on a height they will find comfortable for cutting the materials they usually work with. Roughly around 3 feet, I think.
Most of the ones I've seen are built of leftover wood from other projects or built at the start of a project from the same pile of materials. Either way, the primary ingredients are a pair of frames (usually shaped like the letter A) and a board to span between them. Just search for "saw horse" in the box above or search google for "how to build a saw horse"