The latest version of this Thematic Options theme has been completely rebuilt to use the Options Framework Plugin. It’s rather basic and has just a couple settings- but if there’s something else you’d like to see in it please file a ticket or send over a pull request on GitHub.
If you’re interested in building options for a theme other than Thematic, please check out the Options Framework Plugin or the Options Theme.
You can download the latest version of the Thematic Options on GitHub.
Derek Herman just released OptionTree, a plugin that makes it easy to set up theme options in WordPress. You can easily add uploaders, colorpickers, radio boxes, text inputs, textareas, etc to a panel- and even more advanced stuff like post, tag and page selectors.
The interface as a whole is really nice- similar to GravityForms for the options set up and the WooThemes options panel in terms of actual design. I haven’t dug into the code too much, but it seems well written and commented.