If you want a kernel optimised for your machine, you are going to have to configure it. However, you can run
to just use the configuration you did last time. I haven't heard of any program that's going to automatically configure the kernel for you.
If you want a program that creates an easily installable Debian package, then install 'kernel-package' and read the manpages for make-kpkg.
Other than that, you can choose a pre-built kernel-image package that matches your processor type, e.g. i686. That won't be optimised specifically for your machine, though, so isn't quite the same thing.
