I've used Microsoft's OLE/COM Object Viewer for this. It used to be installed with older versions of Visual Studio, and is still part of the Windows SDK.
It also seems to be available separately -- this is from an older version of the Windows SDK, but I don't imagine this tool has changed much recently.
To view the type information for a particular DLL or OCX, File, View TypeLib... is the option you're looking for. You can also dig through the Controls group in the main window to view details on a registered control. Right-click the entry for the control and click View Type Information to see details on the types and methods it exposes.
This will show rather more information than VB6 would. If you're looking at an ActiveX control, the coclass and dispinterface sections of the type library display are the things to look at.
(There's also an Expert Mode option in the View menu -- this will show you pretty much everything stored in the Registry to do with COM, OLE and ActiveX. This is generally rather a lot of information...)