There are 2 main command line applications / tools that can do what you want
Headerdoc
HTML Open Source Documentation / Command Line Tool from Apple, Inc.
Headerdoc is provided by default in all versions of OS X / macOS, just open Terminal and use the following to find out what you have:
what headerdoc2html
, - :
man headerdoc2html
Doxygen
/ Headerdoc
, , , Headerdoc , doxygen, . , . , :)