For the most part, such objects are made up of solar-system "junk" in the form of chunks of leftover debris from early collisons, major impacts, etc. This stuff has been floating around for a very long time, and likely even if there were some significant amounts of naturaly-occurring radioactive material, like pitchblende, it would have long since decayed.
Many are chunks of various rocks, others may be metallic. Nickle-Iron being fairly common.
There was actually a plan to "recover" the presumed large chunk of iron that was responsible for the Arizona crater during WWII, due to the shortage of metal. Some thought there would be a big, useful hunk of metal down there.
Alas, never found; the thing would have vaporized on impact.