There are both Yeoman and Grunt.
I would think that Yeoman is the easiest, it is build upon Grunt and with yeoman server
you can get live reloading and compiling of both JS and CSS files. It also support other things. If you only want live watching and minify ect. of files you can use yeoman watch
. It requres that you setup a Gruntfile.js, but there are some nice examples.
You can also just use Grunt.js, this will require you to install some extra tasks, but this is not a big problem.
So in short with youman you get some extra features out of the box, but it is build upon Grunt and I can recommend both. They work via a commandline interface, but it is pretty easy. Check out their websites, and try them out, it's free!