You may find my add-in, AtomineerUtils helpful. It can generate and update JavaDoc, Doxygen and Xml-Documentation comments in source code (Visual Basic, C#, C++/CLI, C++, C, Java), and you have a lot of control over the format it produces.
(You could say it generates the "boilerplate" documentation for you, but it generates a lot more than just a basic boilerplate skeleton - it fills in as much detail as possible to minimise the amount of additional documentation you need to write)
So it doesn't create external documentation from the comments (like JavaDoc), it creates the comments themselves - so you would still need another tool to generate the external documentation. However, AtomineerUtils would save a lot of time if you have to generate new documentation comments for existing (undocumented) code, or if you already have the code commented/documented in a Javadoc style, AtomineerUtils can process the documentation comments to convert them to Doxygen or XML Documentation formats, which may help you to gain compatibvility with other tools (Sandcastle, etc) that can build external documentation for you.
To generate the external documentation from source-code comments, Doxygen is a leading (and free) external-documentation generation tool that can build documentation from JavaDoc, Doxygen or Dcoumentation-XML format documentation-comments, and is well worth trying out.