The zf5 yeoman workflow is quite good. What it does is basically give you a more advanced grunt setup and you can use it as a drop in replacement for the foundation CLI. Running grunt publish basically uses grunt as a build file / script and is a great example about how you might go about creating your own.

Thanks Julian for posting this here and for putting together the package on GH.

I am planning to put together a tutorial for it at some point and put it up on my youtube channel.