alt Hacker NewsHelm mostly does that. Not a huge fan of a text templating engine generating yaml but once you get your chart setup with a few variable inputs, you can continue using it for a bunch of other stuff with minimal new config.
The inputs (values) are yaml so you can make it look exactly like a Docker Compose file if you want (wouldn't be surprised if there's some charts floating around that do that)
I've recently been dipping my toes into k8s / kustomize / helm, and I recently had a situation where having a base deployment yml template that I wanted to reuse across various deployments. I had a look at Helm and I was frankly shocked how bad the templating was with Go templates, it was close to unreadable and felt very brittle!