So if this is an NPAPI plugin, you can just create a simple XPI (it's a ZIP file):
your-plugin.xpi/
install.rdf
plugins/
your-plugin.dylib
This follows from the https://developer.mozilla.org/en/Bundles page I linked earlier.
You can create the install.rdf by reading and following the install.rdf reference page on MDC or just generate a stub extension using something like
Extension Wizard (here's a "more official" version on addons.mozilla.org, but I haven't used that) and take the install.rdf from it.
You should probably limit the extension to Mac in your install.rdf (for that you'll have to read the install.rdf reference).
[original answer was:] What technology does the plugin use? XPI is a packaging mechanism; the answer to your question depends on whether the technology you use is still supported in Firefox 3.6.
I didn't think there were cross-browser plugin technologies, that worked in 1992 and are still in use now, so it's hard to guess what kind of plugin you're talking about.