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There's Bob Ray's
MyComponent, which does a very good job once you get the config file figured out. Then there's the
ThemePackager which is very nice, as well as the venerable
PackMan.
MyComponent takes a little getting used to, but it has a universal build.transport.php file that you never have to change unless your package contains objects it won't handle (like Form Customization rules, or Access Policies). Even then, you can usually just create a resolver for those objects, list the resolver in the project config file, and leave the build.transport.php file alone.
MyComponent also has some really handy built-in aids for things like properties and lexicon strings that you won't find in Grunt. It also will import changes in your code files into your MODX dev. site and export changes to your project in the MODX dev. site to the build and code files.