Not a toolbar but a custom-built UI with a set of buttons and actions bound to their 'on pressed' event (and potentially more events, like the right-click), you can start with something like this (use .NET buttons instead if you want additional styling possibilities).
rollout test ""
(
button btnClose "Press To Close" width:125
button btn1 "Acton 1" width:125
button btn2 "Acton 2" width:125
button btn3 "Acton 3" width:125
on btnClose pressed do
(
cui.UnRegisterDialogBar ::test
destroyDialog ::test
)
)
createDialog test 150 500 style:#(#style_toolwindow, #style_sysmenu)
cui.RegisterDialogBar test style:#(#cui_dock_left, #cui_dock_right, #cui_floatable, #cui_handles)
cui.DockDialogBar test #cui_dock_left
If all you wanted is to use the actions from customize UI, you can drag the tools on a regular toolbar, right click all the buttons that display an icon and edit their appearance to use text instead, and under Genera Preferences set the Fixed Width Text Buttons value to your liking.