Hi 义福 郭,
Unfortunately, I am not aware of any official CAN bootloader directly for S12G.
I can recommend our application note AN4258 Serial Bootloader for S12(X) Microcontrollers Based on 180 nm Technology
http://www.nxp.com/files/microcontrollers/doc/app_note/AN4258.pdf
http://www.nxp.com/files/microcontrollers/doc/app_note/AN4258SW.zip
You can use it as base for your own bootloader and just add CAN interface. The AN4258 directly implements only SCI channel.
You may use also AN3391 LFAE Bootloader Example and Interface for use with AN2546 (CAN bootloader for S12XE)
http://www.nxp.com/files/microcontrollers/doc/app_note/AN3391.pdf
http://www.nxp.com/files/microcontrollers/doc/app_note/AN3391SW.zip
for your inspiration.
The pack of simple CAN examples is attached.
Optionally you may use directly CAN driver:
http://www.nxp.com/files/microcontrollers/software/device_drivers/MSCAN_S12_DEVD.zip
I hope it helps you.
Have a great day,
Radek
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