I know this is an old question, but I suppose it might help someone else:
To work in cmd.exe you can use the following command
FOR /F %1 IN ("path to text file containing list of servers") do psexec.exe \\%1 -u "username to execute schtasks under" -p "password" schtasks /Create /S %1 /RU "username that will run the task" /RP "password" /XML "xml file of the task to install" /TN "name of the task"
This will go through the list of servers in a text file (1 server per line) and use psexec to call schtasks on each server and set your task.
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