You might want to take a look at the (not officially supported) heroku-anvil
plugin, which includes the heroku release
command to push externally created slugs to a Heroku app. It was originally designed for working with slugs created with Anvil, but should work for any TAR GZ, as long as it can be run on Heroku. For example you could do something like this:
$ heroku release https://s3.amazonaws.com/my-bucket/slugs-000.tgz -a myapp-staging
Releasing to myapp-staging.heroku.com... done, v42