Great tool to share today.
Ran across this website XML-Sitemaps.com that does exactly what you would want it to do.
You enter the website you want it to crawl and generate the XML sitemap for and a few minutes later it provides links to XML (compressed and uncompressed), text and HTML sitemaps for easy use.
It also allows you to specify the frequency, priority and created dates.
There is a 500 page cap on the service, but they also offer a PHP script version for about $20 bucks that you can install on your own server to generate sitemaps for unlimited pages.
Check them out and save yourself some time.
XML-sitemaps.com : Free Online Google Sitemap generator
