you can do it by custom metabox, here is the code form codex
register_taxonomy(
'speakers',
array( 'YOUR_POST_TYPE' ),
array(
'hierarchical' => true,
'labels' => array(
'name' => _x( 'Speakers', 'taxonomy general name' ),
'singular_name' => _x( 'Speaker', 'taxonomy singular name' ),
'search_items' => __( 'Search Speakers' ),
'all_items' => __( 'All Speakers' ),
'parent_item' => __( 'Parent Speakers' ),
'parent_item_colon' => __( 'Parent Speakers:' ),
'edit_item' => __( 'Edit Speakers' ),
'update_item' => __( 'Update Speakers' ),
'add_new_item' => __( 'Add New Speakers' ),
'new_item_name' => __( 'New SpeakersName' ),
'menu_name' => __( 'Speakers' ),
),
'rewrite' => true
)
);