I will write down my solution as an answer for documentation purposes. I started as Pirerre recommended, but then I used bcftools instead of GATK.
First, I created a header .txt file for the custom vcf file
##fileformat=VCFv4.0
##fileDate=09052019
##source=allchr_allvsall_sex_adjusted
##reference==GRCh37.p13
##phasing=partial
##INFO=<ID=AA,Number=1,Type=String,Description="Ancestral Allele">
#CHROM POS ID REF ALT QUAL FILTER INFO
Then I used awk to generate the data for vcf according the specifications (8 columns). Setting ID="." == missing, Quality to 100 and PASS for the filter for all positions. Of note my_chr_pos_alt_ref.out.gz data consists only of autosomal SNVs!
zcat my_chr_pos_alt_ref.out.gz | awk '{print $1, ".", $2, $3, $4, 100, "PASS", "AA="$3}' OFS='\t' > tmp.vcf
add the header
cat header.txt tmp.vcf > mydata.vcf
rm tmp*
zipped and indexed
bgzip mydata.vcf
tabix -p vcf mydata.vcf.gz
Finally annotated rsIDs using:
bcftools annotate \
-a 00-common_all.vcf.gz \
-c ID mydata.vcf.gz \
--output-type z \
-o mydata_dbSNP151.vcf.gz
dbSNP files from ftp://ftp.ncbi.nih.gov/snp/organisms/human_9606_b151_GRCh37p13/VCF/