You seem to understand well the mathematical models that we use and describe these particles, and then we say wow, these models are perfectly describing reality, because they are all justified by our experiments, so massive particles can never travel at the speed of light in vacuum, that is what we see from the experiments, and the mathematical models show as you say a contradiction too when we talk about massive particles traveling at the speed of light in vacuum. But that is not what you are asking.
Then you see phrases where we say "you need infinite energy to speed up a massive particle to the speed of light in vacuum". It is true, and mathematically justified, but that is just not what you are asking for.
You are asking "what law prevents them from being created at c.", and what you are looking for, is called the Higgs mechanism.
The Higgs mechanism is a way of saying, that there is something, a field, that (just like other fields) permeates all of space, and interacts with certain particles. This mechanism (or a way of expressing another physical law that you are looking for), is what differentiates massive and massless particles, and interacts (couples to) with the former but not with the latter, creating a phenomenon that we see in our experiments as a law that says, massive particles cannot move at the speed of light in vacuum.
The Higgs field is another quantum field, and the Higgs field and electron field interact. That means you cannot just write an electron just as an excitation of the electron field, but instead it has to be written as an excitation of both the electron and Higgs fields together. Because the interaction is relatively small we can write the excitation as a slightly perturbed electron field excitation, that is we write it as an excitation of the electron field plus a bit of the Higgs field. If we now calculate how this excitation propagates we find it travels at less than the speed of light i.e. the excitation of the combined fields has a mass. The amount of mass is proportional to the strength of the interaction between the electron and Higgs fields.
Is this a good explanation of the Higgs mechanism?
https://en.wikipedia.org/wiki/Higgs_mechanism
Now we do not exactly know how, but this interaction with the Higgs field, this Higgs mechanism is somehow causing these particles (that we subsequently call massive) to travel always at speeds slower then the speed of light in vacuum.
Please note that:
for neutrinos, we still do not exactly know how (through what mechanism) they gain their rest masses
your question is (I assumed you are asking about vacuum) only true in vacuum. massive particles can and do travel faster then light in certain media
https://physics.stackexchange.com/questions/11320/tachyons-and-photons
– Razor Oct 04 '20 at 06:16