Are you asking whether the company can establish a plan for its employees, or are you asking what your personal options are in the absence of your company establishing a plan? I set up a 401k for my business, it was not very difficult or expensive. There are some first-year costs associated with plan setup, and some recurring costs for managing the plan. I paid about $1000 for plan setup, $525 a quarter, plus each employee pays $4/month.
I chose a provider who charged a flat rate plus a small fee per employee, rather than a provider who charged higher fees through higher fund expenses. Vanguard offers plans too, but they make more sense once you get over 10-15 employees, and their setup fees were higher ($3500, IIRC).