If you're just doing a sprite change, you can use TileLayer Pro or YY-CHR to change the sprites in a game. It works with NES, SNES, and GB, probably even more.
Changing stage layouts requires a stage editor. "Stake" is the name of an editor for Castlevania 1 (NES), and "ReVamp" is an editor for Castlevania 3 (NES). I'm not sure if there are others for other systems.
Changing the music is trickier.