Hi,
Take a look at this bootloader for MPC56xx:
https://community.nxp.com/servlet/JiveServlet/download/427962-1-279359/bootloader.zip
Or updated version for MPC57xx published as an application note:
http://www.nxp.com/assets/documents/data/en/application-notes/AN5319.pdf
http://www.nxp.com/assets/documents/data/en/application-notes-software/AN5319SW.zip
You can jump to application using asm code directly in startup files as shown in the app note or you can use C code like this:
typedef void (*func_ptr)();
(*(func_ptr)entry_point)();
Interrupts can be used in both projects, of course, but make sure that all interrupts are disabled before jumping to app. And not only by MSR[EE] but also by all local enable bits in peripherals. I wrote that here just two days ago:
https://community.nxp.com/message/1112213?commentID=1112213#comment-1112213
Regards,
Lukas