Actually, you can do google sitemaps just fine with domain.com, you just have to set the site up as domain.com and not
www.domain.com in the google webmaster tools. However, in your .htaccess file, you can setup your site to default to
www.domain.com whether they type
www.domain.com or domain.com in the address bar. In order to make all requests for your site go to
www.domain.com you need something like this in your .htaccess file:
RewriteEngine On
RewriteCond %{HTTP_HOST} ^domain\.com$ [NC]
RewriteRule ^(.*)$
www.domain.com/$1 [R=301,L]
Mind you, you only have a .htaccess file if you are on an apche server, and usually you are only on apache if you are hosted on a linux server. If you have windows hosting with IIS, then you need the mod rewrite thing, and I'm not sure exactly how to make that work. I tried at one time, but then realized it was just easier to switch to linux hositng, so I did:)
Hope this has helped,
David Henderson