xenu does this. It's not the best solution - but a pretty easy one. You simply point the program at your site, wait for the scan to finish, and finally click "yes" when it asks if you want a report. The HTML sitemap is near the bottom, and is pretty hard to miss.
As a side note - searching for "download xenu" makes me want to give huge fucking props to the SEO(s) at softonic. Well fucking done.