Since GNU/Hurd is Multiboot-compliant, it is easy to boot it; there is nothing special about it. But do not forget that you have to specify a root partition to the kernel.
search --set=root --file /boot/gnumach.gz or similar may help you
(see search).
grub> multiboot /boot/gnumach.gz root=device:hd0s1
grub> module /hurd/ext2fs.static ext2fs --readonly \
--multiboot-command-line='${kernel-command-line}' \
--host-priv-port='${host-port}' \
--device-master-port='${device-port}' \
--exec-server-task='${exec-task}' -T typed '${root}' \
'$(task-create)' '$(task-resume)'
grub> module /lib/ld.so.1 exec /hurd/exec '$(exec-task=task-create)'