The best thing in such situations is to use the release plugin which supports automatically changing the version in the pom and creating a tag/label in the appropriate VCS. There are two steps release:prepare and release:perform which can simply be combined.
A command like this:
mvn release:prepare release:prepare
will do all needed steps like making a tag in VCS, change pom's version and deploy the artifacts to your repository. But the prerequesite is having correct entries in the SCM area of your pom, correctly configured the distributionManagement etc.
If the project comprises of several modules which have the same version this sounds like using a multi-module build instead of separated projects which would solve the problem of changing the version manually.