You can't find the procedure because there is no official procedure. An actual installer has to run on the same machine it's installing into.
That's so it can identify the machine, determine if the install package is suitable for it and if it is, tailor the parts to that machine's configuration.
You can unofficially connect your target machine (which although you didn't say, I'm guessing is a G4 Powerbook) via FW in Target Mode and:
1) Simply drag a working OS9 System Folder - all of it including the Finder, apps etc. - over to the PBook
2) Bless the System by dragging the System and Finder out of the System Folder onto the top/root level of the drive, then return them
3) Shut down Target Mode properly by dragging the drive icon on the QS source machine to the trash then powering down the PBook.
That should allow the Book to boot into OS9. However, there will be issues. For example, say you drag the Quicksilver System to the PBook. The PBook has a trackpad that the QS doesn't so the trackpad Control Panel will likely NOT be enabled. That means the pad will probably work but it may be very slow, the clicks may be different that you would like etc. You will be able to plug in a mouse however since that will have been on in the QS. You will have to reset the display too. All things not determined by an installer you didn't run will have to be set manually. You'll have to use Extensions Manager or drag stuff back and forth between enabled / disabled Extensions and Control Panels.
Not to worry, it sounds harder that it is. It is tedious though. By the time you're done, you'll have a new appreciation for just what an installer app does.