Mongoose does come with a Makefile, and will compile as a standalone command-line program. Lua and SQLite are included.
The easiest way to compile the latest version is to cd into the "build" directory and run make unix
. I'm not sure about the archived version on the downloads page, but trunk has been pretty stable.
I just checked out a clean copy of Mongoose from github earlier tonight and built it with no problems, so I can confirm that this works (assuming you have any other dependencies set up properly, of course).