Even though the existing PE examples under Freescale USB stack V4.1.1 does not have example for K20 100MHz. It just has examples for K60. But there is no difference between the USB module for K20 100MHz and K60 100MHz, so you could just create a new PE project for K20 100MHz, then add USB components and generate code, copy the APP code from existing demos.
For detailed steps, please refer to "Freescale Processor Expert USB Components Quick Start Guide" in the stack folder.