Easy way with some added functionality: install the Recovery Console (run i386\winnt32.exe /cmdcons) on all servers, then change the "Show OS List" setting in Start and Recovery (Properties of "My Computer" > Advanced > Start and Recovery).
Set it to 10 seconds on the PDCe, then stagger the other servers as required by their dependencies.
If you don't want to install the recovery console, uncheck the Read Only attribute in C:\boot.ini ("Show hidden files" must be enabled), open it in notepad, and simply duplicate the existing "multi()..." line in [operating systems] (no other changes). Save and set Read Only again. Configure the "Show OS List" timeout as described above.