Function for KDE-style distribution generation for sampling

I have some points in pytorch and I would like to sample from a distribution that resembles these points. I noticed that the seaborn kde plots seem to draw out/define a distribution graphically and I was wondering if there was a way to do something similar for sampling purposes. In other words I would like to feed my points into a function that uses them to define/approximate a distribution from which I can sample more points. Is this a feasible thing and if so are there any good functions/packages that could be recommended for this?