First you have to become a PR and have work in Canada for at least 3 years and made enough income in each of those 3 years to meet minimum income requirements. Once you meet income requirements, apply to be selected to sponsor your parents. Only a limited number of applications are accepted each year - so not possible to guess how long you might be waiting before you are selected. If you are selected and apply, then you're looking at around 1-2 years processing time.
Adult (22 and over) siblings cannot be sponsored and will have to find their own path to PR.