Formatting a 1581 floppy using Amiga ?

[mechy]

Hi.
 Is there a utility which would allow me to stick a 3.5" dd floppy into my Amiga and format it so I can read it on my C64 / 1581 drive ?
 
 Browsing Aminet but am unable to find anything.
 Mybe I'm punching in the wrong words.
 
 thanks.

look for c1581:

http://aminet.net/search?query=c1581

you might also check out copy1581.