I have successfully made a bootable usb key for v2.3 g4u.  Here is the 
process I used.

1. download and burn i386cd-3.1.iso from 
ftp://ftp.netbsd.org/pub/NetBSD/iso/3.1/
2. download "The g4u 2.3 ISO CD image" from http://www.feyrer.de/g4u/
3. Extract netbsd from the g4u iso image.  Rename it netbsd.gz, and 
create a new iso image containing this file.  burn this new iso image to 
a CD.  (I don't really know why I couldn't get the netbsd file from a CD 
made directly from the g4u 2.3 CD image, but I couldn't copy it from the 
g4u 2.3 CD after booting from the netbsd install CD from step 1.  I made 
the new iso image with mkisofs using the -J and -R options under solaris 
10.)
2. boot from the i386cd-3.1.iso CD.  When the installer brings up the 
blue welcome screen kill the installer with control C.
3. Follow steps 1-6 from 
http://wiki.netbsd.se/index.php/How_to_install_NetBSD_from_an_USB_Memory_Stick 

4. Eject the i386-3.1.iso netbsd install CD.
5. Insert the CD from step 3 containing the g4u netbsd.gz.  Mount it 
"mount /dev/cd0d /mnt2"
6. Copy the g4u netbsd.gz file from the CD to the USB stick: "cp 
/mnt2/netbsd.gz /mnt".
7. Unmount memory stick: "umount /mnt"
8. Unmount CD: "umount /mnt2"
9. Halt: "halt", and wait for "The operating system has halted"

Here is the part of the "How to install NetBSD from an USB Memory Stick" 
wiki entry that I used:
> 1. Install the Master Boot Record (MBR):
>
> # fdisk -i /dev/rsd0d
>
> 2. Create an fdisk partition for NetBSD:
>
> # fdisk -u /dev/rsd0d
> Disk: /dev/rsd0d
> NetBSD disklabel disk geometry:
> cylinders: 974, heads: 128, sectors/track: 8 (1024 sectors/cylinder)
> total sectors: 997375
> BIOS disk geometry:
> cylinders: 974, heads: 128, sectors/track: 8 (1024 sectors/cylinder)
> total sectors: 997375
> Do you want to change our idea of what BIOS thinks? [n] n
> Partition table:
> 0: Primary DOS with 32 bit FAT (sysid 11)
>    start 8, size 997367 (487 MB, Cyls 0-973/127/8)
> 1: <UNUSED>
> 2: <UNUSED>
> 3: <UNUSED>
> Bootselector disabled.
> Which partition do you want to change?: [none] 0
> The data for partition 0 is:
> Primary DOS with 32 bit FAT (sysid 11)
>    start 8, size 997367 (487 MB, Cyls 0-973/127/8)
> sysid: [0..255 default: 11] 169
> start: [0..974cyl default: 8, 0cyl, 0MB] (RETURN)
> size: [0..974cyl default: 997367, 974cyl, 487MB]
> bootmenu: [] (RETURN)
> Partition table:
> 0: NetBSD (sysid 169)
>    start 8, size 997367 (487 MB, Cyls 0-973/127/8)
> 1: <UNUSED>
> 2 :<UNUSED>
> 3: <UNUSED>
> Bootselector disabled.
> Which partition do you want to change?: [none] (RETURN)
> We haven't written the MBR back to disk yet.  This is your last chance.
> Partition table:
> 0: NetBSD (sysid 169)
>    start 8, size 997367 (487 MB, Cyls 0-973/127/8)
> 1: <UNUSED>
> 2: <UNUSED>
> 3: <UNUSED>
> Bootselector disabled.
> Should we write new partition table? [n] y
>
>
> 3. Set the NetBSD partition active (it's partition Number 0):
>
> # fdisk -a /dev/rsd0d
> Disk: /dev/rsd0d
> NetBSD disklabel disk geometry:
> cylinders: 974, heads: 128, sectors/track: 8 (1024 sectors/cylinder)
> total sectors: 997375
> BIOS disk geometry:
> cylinders: 974, heads: 128, sectors/track: 8 (1024 sectors/cylinder)
> total sectors: 997375
> Partition table:
> 0: NetBSD (sysid 169)
>    start 8, size 997367 (487 MB, Cyls 0-973/127/8)
> 1: <UNUSED>
> 2: <UNUSED>
> 3: <UNUSED>
> Bootselector disabled.
> Do you want to change the active partition? [n] y
> Choosing 4 will make no partition active.
> active partition: [0..4 default: 4] 0
> Are you happy with this choice? [n] y
>
>
> 4. Create the NetBSD disklabel and add the partitions "a" and "d":
>
> # disklabel -i -I sd0
> partition> a
> Filesystem type [?] [MSDOS]: 4.2BSD
> Start offset ('x' to start after partition 'x') [0.0078125c, 8s, 
> 0.00390625M]: (RETURN)
> Partition size ('$' for all remaining) [973.991c, 997367s, 486.996M]: $
> partition> d
> Filesystem type [?] [unused]: (RETURN)
> Start offset ('x' to start after partition 'x') [0c, 0s, 0M]: (RETURN)
> Partition size ('$' for all remaining) [973.999c, 997375s, 487M]: 
> (RETURN)
> partition> W
> Label disk [n]? y
> Label written
> We haven't written the MBR back to disk yet.  This is your last chance.
> Should we write new partition table? [n] y
>
>
> 5. Create a new NetBSD filesystem on partition sd0a:
>
>    # newfs /dev/rsd0a
>
>
> 6. Make the partition sd0a bootable:
>
> # mount /dev/sd0a /mnt
> # cp /usr/mdec/boot /mnt
> # installboot -v -o timeout=5 /dev/rsd0a /usr/mdec/bootxx_ffsv1




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