Within OS X its getting difficult as long as You need a classic system as a minimum. To be honest: I never managed to get a bootable installation CD from OS X because You need to install a "system for all Macs" on a disk image - and a G5 or Intel Mac simply refuses to start this operation because of CPU incompatibilities. So I fear You do have to use at least a dual boot machine.

Nevertheless this guide should be of some help if You fail to use Toast (in fact that Toast functionality never worked very well for me):

http://lowendmac.com/lab/03/0102.html

J