I don't think there is a simple tool, you need to go with Intel SCS or a 3rd party ISV tool. I am not a specialist with domains and so, I can't help much. Still, SCS provides a lot of documentation and this forum can help you if you run into issues.
Once you have Kerberos setup, you can log into with Kerberos using Intel AMT Commander. Just leave the username and password blank to use the local Microsoft Windows account you are curently logged into, or type "domainusername" and the password. The "" in the username will tell Commander to change from password to Kerbeors authentication.