Go in and talk to them about it.
The idea is, provide them with the easiest way to let you use some floor space or shelf space. The easiest way to do that is to handle the entire thing yourself and collect the money after the sale.
Probably want to see a lawyer to draw up a contract, though. But still, it's just like any entrepreneur trying to get a product in a store. Talk to some people who make crafts, talk to craft store owners. Talk to people who make the food products in the grocery store. Talk to the grocery store manager, see how they handle independent products.
Basically, you "lend" them the product and display in exchange for floor space, shelf space, and someone to ring up the sale, then you take inventory at a set time (weekly, monthly) and produce a bill for the shop payable to your company.
The other option is to sell the product to the store at "wholesale" prices. You end up taking a smaller cut, but you get paid up front and don't have to deal with them again until they need more stock. Which doesn't mean they will need more stock. They would have complete control over product placement, price, promos, etc...
