You can render normals for objects using the Show Normal [sidefx.com] material. It colors the surface of an object based on the normals of the polygons. So simply attach the material to objects, set up a camera for the angle you want, and render using that camera to create the normal map image.
Note that you will need to be sure that you don't have anything in the shot that doesn't have the Show Normal material applied. This includes the background; by default, the background color is black, which won't work on a normal map. You can also get around this by changing the background color to pure blue (i.e. red=0, green=0, blue=255), which is the color of a flat surface pointed directly at the camera.
what kind of normal map are you making BTW (world space or tangent space)? are you trying to transfer it from a hi res model with no uvs to a low res model with UVs?
it sounds to me that you are creating a static model using a 3D texture based of a flat grid at a higher resolution that your other model that has UVs right? I would recommend looking at the Gather Loop VOP node as it will allow you to transfer generically any kind of attribute from one mesh to another and save it into a map.
In your case, create two materials:
one renders the world normals of the object (the show normal material will work for this)
the other one has a gather loop that uses the hi res object as its object space, then transfer the color (Cf) variable. In this case, your color will be that source object's world normal
then add a Mantra ROP node, and in the UV render object section, set the path to be your object with UVs itself, then specify what UV set to render to
There was another thread that I started before asking the same question, let me see if I can dig it up. you would be pleased to know though that once you figure out this, you will be able to transfer anything from anything in houdini. it is one of its most powerful features!