How do actors create the same emotion during sound dubbing sessions?

This Google Book Result explains some techniques. (wordings are mine)

The actors memorize their parts. During dubbing, a guiding sound comes at fairly low level. Those actors say their lines at their turn. The mixer places the microphone at proper place depending on the distance sound is coming from.

Now, coming to your question. The dubbing director concentrates on catching the mood of the scene. For eg, if the character gestures, he will make the actor gesture. If this scene is about smoking, he may give the actor a pipe or something.

It may take some rehearsal loops before a perfect dubbing. When dubbing is done, the editor breaks down picture loops and synchronizes them with the most perfect take.

This Quora answer explains it quite well.

The process of 'acting-out' the voice includes a lot of emphasis on the emotional and aesthetic value of the character and situation. The voice-actor has to control his modulation, give emphasis where required, and be casual where required. A multi character scene would demand all the characters present in the dubbing room and they will give a collective performance.

This is the de facto standard when voice acting (providing voices for animated films, video games, etc). When taping ADR in the studio, actors are often watching the footage while recording - not only 'reliving' the moment within the scene but also to ensure that the lip-sync remains consistent.

What's more is that the REALLY good actors have a tendency to wholly immerse themselves into their characters. In 2001's Ocean's 11, Andy Garcia went so deep into character that he even developed a very specific manner of walking dubbed "The Benedict Strut" - so good, in fact, that he shot a pick-up SEVEN MONTHS after initial filming which was spliced in and every last nuance matched completely!

Even with all this, actors will record the same lines dozens of times over - giving the editors a bit of variety to choose from should issues concerning pacing, sequencing, etc require something ever-so-slightly different from what was originally intended.

More trivia: In the original Star Wars, R2D2 had actual lines. Partway through, after deciding some of the droid banter wasn't as entertaining as Lucas originally thought, R2's lines were replaced with emotive beeping which made C3PO's responses hilarious!

Even MORE trivia: While filming Marvel's Guardians of the Galaxy, Groot had actual lines that Rocket and others would respond to. Vin Diesel meticulously kept these lines in mind when recording ADR so every detail of "I am Groot!" would retain the inflection of the original dialogue.