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This is how I do it on an Alpha system:

# First, make an empty file the same size as a 3.5" HD floppy disk.
dd if=/dev/zero of=floppy bs=1440k count=1

# Now, attach it to a vnode.
vnconfig -c -v /dev/vnd0c floppy

# Make a filesystem on it.
# "floppy" is an entry from /etc/disktab. This is necessary because
# there is no (and cannot be a) disklabel on a vnode.
newfs /dev/rvnd0a floppy

# Now mount it, make it bootable, and copy a kernel over.
mount /dev/vnd0a /mnt
cp /usr/mdec/boot /mnt
/usr/mdec/installboot -v /mnt/boot /usr/mdec/bootxx /dev/rvnd0c
gzip -c /netbsd >/mnt/netbsd.gz

# The kernel must be executable to boot.
chmod +x /mnt/netbsd.gz

# Done!
umount /mnt
vnconfig -u /dev/vnd0c

# Now you may copy the file over to a system with a working floppy drive, and:
dd if=floppy of=/dev/rfd0a bs=1440k count=1

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