I've been using WiX extensively for creating MSI packages. It has quite a steep learning curve, but once you know what you're doing, it is very powerful. You said earlier that it needs Visual Studio installed, but I think it's just .NET 3.0, not the whole IDE.
I used this WiX tutorial when I got started, and it's got pretty much everything you need in there if you want to go down this route.
If you're after something simple, search for a tool called WixEdit on SourceForge. This has a GUI for building MSIs - it's not perfect, but pretty easy to use and produces professional results.
I'll repeat, WiX has a very steep learning curve, and if you're just after a simple way to package your application, NSIS might be easier; or, you could use the standard IExpress.exe tool built into Windows to create a self-extracting .exe (but they don't "feel" as good as an MSI).