It's not terribly difficult if you've already got 3.5+ installed.
Partition it, etc w/ HDToolBox making any partitions that end beyond the media's first 4 GB's non-auto mounting (ie if you are going to make the drive one large partition make sure the partition is set to not automount). While in HDToolBox add the new version of FFS that was included w/ 3.5 to the drive (it should be in your L directory) as it contains the Trackdisk 64 code required to overcome the 4 GB limit.
In Devs should be a file named NSDPatch.cfg edit it w/ a text editor so that the entry for you SCSI controller is uncommented. Also depending on your controller you may need multiple entries for each drive greater than 4 GB's and to use the RDBUnit number command. My entires for my 9 GB (unit 5) and 4.5 GB (unit 6) on my CS/PPC's SCSI controller look like this:
DEVICE cybppc.device DEVICETYPE NSDEVTYPE_TRACKDISK COMMANDS 2-7,9-15,20-28,33-39,41-44,46-49,51-72 TD64 RDBUNIT 5 ACTIVATE #?
DEVICE cybppc.device DEVICETYPE NSDEVTYPE_TRACKDISK COMMANDS 2-7,9-15,20-28,33-39,41-44,46-49,51-72 TD64 RDBUNIT 6 ACTIVATE #?
Now whenever setpatch is run it should automatically mount those partitions outside of the 4 GB's for you.