Is there a Grunt configuration or something equivalent to the html5 boilerplate ant build script (https://github.com/h5bp/ant-build-script)?
I feel the ant build tool is a lot simpler to use, as you just have to run it, but I'm still just studying these html/javascript/css build tools!
Yeah, it's right there: https://github.com/h5bp/node-build-script ;)
Check the installation instructions in there, looks very easy to get started.
Important: I've never used! Just knew about its existence, and they claim to be the closest possible to the ant build script you mentioned.