Very simple :
var ground = BABYLON.Mesh.CreateGround("ground", 512, 512, 32, scene);
var normalMaterial = new BABYLON.NormalMaterial("normal", scene);
ground.material = normalMaterial;
You can add a diffuse texture to the normal material, because why not? Normal colors will be mixed with texture color.
normalMaterial.diffuseTexture = new BABYLON.Texture("textures/amiga.jpg", scene);