128 Bootmaker & Installer v3.0 (Chalk boot) is a program for the Commodore 128 that will create a menu and autobootable disk from a 1571 or 1581 floppy.  The following is info from the program:

This Program, when run, will read onto the screen all of the program type files from the disk in the drive you choose, you will then (with the cursor controls, shift key, and space bar) be able to select up to 20 files (either basic or ML) for the program to create and install a program entitled: "chalk booter' , plus install onto track 1 sector 0, the regular CBM autobooting parameters to boot "chalk booter". If you have a program running through (1,0) then this program will try to do a relocation and only if successful, will it write the booter program address to the CBM block. The installed CBM boot will run and list the titles you selected. Then you can run the program of your choice by pressing its corresponding number and return.

The following blurb is from the text file included in the archive:

This program lets you create an auto-bootable disk.  It's the same program that was on the 1581 demo disk, except that I modified it to add one option.  The new option lets you merely allocate space for the autoboot sector instead of make a disk autobootable.  This could be handy if you wanted to make a disk bootable sometime later perhaps, but not now.  With this option the booting message still appears, but nothing is booted.

In fact, if you do make a disk bootable, you can later change your mind and use this option to stop a disk from autobooting.  Perhaps I should explain what autobooting means: the process hereby the computer automatically loads and runs a program on disk.  The bootable disk and the file to boot can be from any disk device, although the bootable disk is usually on device 8. One point about autobootable disks created with this program.  You can Abort the boot-up  process by pressing Control A.

Autoboot Manager by Victor Singleton (June 1986) is a very nice utility for the Commodore 128 to create autobooting floppies.  Autoboot Manager works with the Commodore 1541, 1571 and 1581 floppy drivers.  Full instructions are built into the prorgam.

Bootmaker 128 is one of the most flexible auto booting generators I've run across.  One of the features I like in particular is the ability to go 64 and auto boot a C64 program.  There are 5 auto  boot features total and are outlined in the opening screens.

C128 AutoDisk Maker for the Commodore 128 (40 Columns) by D. Darus and L. Wallace is a neat utility that will let you auto start a BASIC or ML program just by turning on the computer.