How to create and install window service on another system

Question

I have created window service on my system and with the help of visual studio command prompt 2010 i have installed it on my system and it is working fine. But now i want to install on another system where i don't have visual studio 2010, i only have .net framework 4.0 on that system hence there is no visual studio command prompt 2010 so how to create setup and deployment so that it should work on that system, if i am not wrong i have to create the setup same as we do for window applications but the question is how to install windows service in order to make it run on another system.