I want to achieve the similar result for my own code:
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What you are referring to is XCode’s documentation viewer and Document Sets.
Check out this tutorial on working with Doxygen, a popular docgen that works well with XCode: http://developer.apple.com/library/mac/#featuredarticles/DoxygenXcode/_index.html (not for XCode 4)
If you are using XCode 4, check out these articles: