There exists a couple. The ones I remember from back in the day were Chameleon (I & II) and Medusa. My memory is real cloudy now, but I believe I had success with Medusa. Then there was ST4Amiga, which I never really got around to playing with, but it was last updated in (I think) 1995 and requires 68000.
You may also want to have a look at the tool ST2Amiga:
If you'd like, I can up the two Chameleons and Medusa.