Here's what I had in mind. I have to do my cash-out and go home now; W's starving and wants to have supper right away. I'll come back in a bit and post the explanation of the circuit.
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edit: Okay, I'm back. As NoTime mentioned, centre-tap transformers are pretty common. I have one wall-wart that outputs 1.5, 3, 6, 9, or 12 dependent upon the switch setting. 5.5 might be hard to find in a hardware store unit. If you do decide to make your own supply, you just calculate how many turns of the secondary are needed to obtain a certain voltage and solder a take-off wire to that point ([i]without[/i] cutting the coil). Tapping half-way along the windings of a 24V transformer will give you 12V, a quarter of the way will give you 6V, etc.. It's directly proportional.
In my sketch, T1 is your 24V transformer with take-offs at the appropriate points. Sw1-3 are SP3T switches, all shown in the 'off' position. There's no way to accomplish your goal without using all three. I've drawn the set-up using barrier strips (bus bars), but printed circuit traces or soldered junctions would also work. S1-3 are the primary coils of the relays that drive your valves. Lastly, D1-3 are diodes to rectify the AC transformer output to DC. I was thinking that you could use LED's for that, so you'd have a visual indication of when each tap was in use. You might find it easier to put a single rectifier in the ground side (the little arrowheads are common grounds).
I hope that this helps a bit, but please have someone with more electrical experience check it out before trying it.