.Net XML comment into API Documentation

Is there an easy way to produce MSDN-style documentation from the Visual Studio XML output?
I’m not patient enough to set up a good xslt for it because I know I’m not the first person to cross this bridge.

Also, I tried setting up sandcastle recently, but it really made my eyes cross. Either I was missing something important in the process or it is just way too involved.

I know somebody out there has a really nice dead-simple solution.

I’m reiterating here because I think my formatting made that paragraph non-inviting to read:

I gave sandcastle a try but had a really hard time getting it set up.
What I really have in mind is something much simpler.

That is, unless I just don’t understand the sandcastle process. It seemed like an awful lot of extra baggage to me just to produce something nice for the testers to work with.