Hi, there is no way to do this without either manually doing it (creating a form manually for each record in your list) or by using custom code to do it.
We have, however, already built a tool that does this and it's pretty easy to use. Basically you export your SharePoint list as an Excel file, do some configuration in our tool (attach the InfoPath template for the new form, map the fields in Excel to the nodes in the XSN) and then execute the tool and a new InfoPath form for each row in your Excel sheet will be created. It should save you a lot of time.
Here is a link to the tool: http://www.qdabra.com/en/products/ExcelToInfoPath.aspx
Ted