This can be achieved in Skirmish or Multiplayer. There are 27 Command Point maps. Command Point games are won by using engineers or your ACU to capture marked structures around the map. The fastest method is in Private Multiplayer with a partner. Set Capture Points to 50%, Pre-base on, Fog of War to None. One player can sit there while the other builds 5 engineers and sends them out to capture the Command Points. On larger maps you might want to also build an air base and use transports.
Note that in this mode if you increase the game speed it becomes incredibly glitchy (yes, even more than the game already is) and tends to crash. I strongly recommend against increasing the game speed when playing Command Point!