Switching between XP and OSX

I dont know if this has been asked before so if it has i am sorry again. I know that when you want to switch between OSX and XP you hold down the alt/option key on restart. But is there any way to give me the option on restart without me having to hold that key down? Like some kind of Boot menu? Or is that the only way that it is possible to switch back and forth.

When you install Boot Camp, you can select Windows as your start-up disk in System Preferences. For XP, after installing the Boot Camp drivers, it adds an option to the control panel to do the same thing.

Is there a way to set up a menu option when I start up my MacBook instead of holding down the alt/option key?

You can hold the menu button on your remote...

But I don't think you can get some sort of bootloader, no.