A boring bar with a hand ground square HSS cutter. That's what you need to get started.
Something like this :View attachment 70504
with some of these View attachment 70507
ground to a profile like this: http://www.wikihow.com/Make-a-Turning/Threading-Lathe-Tool-Bit
Haven't tried the boring bar Marcel mentioned. I use this bar http://www.grizzly.com/products/H8300 which is left handed and turn the right handed thread backwards which I have better luck with than the http://www.grizzly.com/products/H8305 right hand holder because all internal threads I have done are blind bottomed and it is easier to start from the bottom of the hole. If your spindle can handle running in reverse without unscrewing the chuck consider this method with a boring bar or this holder. I buy the inserts from Shar's.
Dave
It's just the old school way. The way they used to do things before they came out with all these newfangled, specialty insert requiring gadgets. I own a newfangled one also. But those old style boring bars with HSS tool bits can be used for so many things besides threading...bang for your buck. Every shop should have them, they're just versatile.Haven't tried the boring bar Marcel mentioned.
Dave
One thing you need to watch-out for with the boring bars with square pinions knocked-out for HSS bits , is that the bits tend to slip. Once that happens, your thread is shot. A way around this is to grind a notch in the insert so the pinch screw will seat. The problem there is that eventually, you need to sharpen the HSS bit and the old ground notch may not allow it to stick out far enough.
How do I know all this? Well, I have a set of those sitting on my shelf -unused because they are supplanted by boring bars that take threading inserts -that don't have that problem...
Ray