First of all, as long as your boot disk already has a notch in the right side of the disk and free space available, it's writeable. CP/M has a built in command "SAVE" that will write a portion of memory to disk. As long as you have a prompt, you can use SAVE, even if you don't have a boot disk in any drive. Since we are only trying to see if you can write with the drives, it doesn't matter what you write to a file. So try entering this at the "A>" prompt:
SAVE 1 A:WRITE.TST
If that works, you'll see a file named "WRITE.TST" on your disk and know that the A: drive can read and write. Try doing the same with the B: drive.
Secondly, directory listings of what is on your CP/M disks would be helpful so that we can see what utilities you have available. You might have some program that would be better to use than COPY for formatting the disks. (As durgadas311 suggests, it was common for Kaypros to have a FORMAT.COM program on the CP/M disks.) To avoid the risk of missing a file when posting the directory listing, you can always attach a digital camera picture of the directory listing from your Kaypro's screen.
And third: Most CP/M programs will run from either drive, the only question is will it expect to find some files on a specific drive or not. If the programs are part of CP/M itself, they should be able to run from the B drive. But, keep in mind that some "CP/M" software will actually be Kaypro written add-ons. Whatever the case, I recommend at least trying to run COPY from the B drive and seeing if you can make it try to format a floppy in the A drive.
If it comes down to finding out if you have the wrong CP/M; you might need to open the cover to see which ROMs are on your motherboard. If you can't do that yourself, even the guy at the computer repair shop should be able to do that much for you by following the directions we can supply.
It's best to give an email address through a Direct Message to a person who is going to directly assist you instead of posting it on the forum.
I can't speak for anyone in particular, but I think there should be someone within your driving range that can help you with generic problems like cleaning the drives. So, don't give up on that part yet. As you can probably tell, VCF is rather wide ranging in vintage computer interests and not everybody here that might be able to help will have read your Kaypro threads as it might not be their machine of interest. But, if the problem is the floppy drive, that's a non-Kaypro specific part and many enthusiasts should be able to get it to work regardless of whether they know Kaypros or not.
Also, what other computers do you have available? If we know what you have on hand, we might be able to give you more specific instructions to walk you through getting data onto the Kaypro. You might have to buy some more cables, etc., but that will pay off in the long run assuming you really want to get back into using a CP/M machine a lot.