for an xml-sitemap for google: http://www.sitemapdoc.com/
create map—-copy the source—past in editor—-safe as sitemap.xml
and put it in the root (like: mywebsite.com/sitemap.xml)
and submit it in webmastertools
a html sitemap is just a page on your website with links to all your pages on it, you can make it as nice as you want, any layout etc.