It is possible to manually configure QoS on 3560 switches, but their QoS capabilities aren't as feature rich as most Cisco routers.
On Cisco's web site, you'll find both a configuration guide and reference guide for your installed software. You'll want to look at the chapters about QoS.
I fear you find the above mentioned references very difficult if you're not almost expert level with QoS concepts (Collin's reference would help with concepts). I believe it's possible to modify AutoQoS after it has been applied. So, you might want to start with AutoQoS, and if it isn't doing what you want, modify it using the QoS reference manuals for reference. This might work better for you than trying to define QoS from scratch. (You can also use the AutoQoS as a working model to see how 3560 QoS features can be used.)
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