http://www.hardwareforums.com/stick-men-8438/
That's my thread about my stick man animations I made, it's got the link there to a program I use called Pivot, it is frame by frame but it's the only one I know of.
Yeah it's pretty good but for stick figures the pivot program is excellent, pre-made people and other things plus movable points on them. For basic stickman animations it would be fine.