Hi Nigel ,
Basically a piece of thick walled synthetic rubber tubing is put on a rod between two collars . If the collars are now forced together so as to squeeze the rubber tube endwise then the rubber tube will expand in diameter . If the rubber tube and the two collars are made just a slight amount smaller diameter than bore of your boiler tubes then applying the end wise force will efectively swell the rubber tube into the bore of boiler tube and expand it into tube plate .
The general idea is extensively used in industry to expand tubes into dies so as to make (eg) deep grooves for O rings in pipework . You should have no trouble expanding annealed copper tubes this way .
Full size boiler tubes on steam locomotives are usually (not quite always) made from a special brass alloy .
MikeW