The micromonitor (uMon... http://www.umonfw.com) package has an LWIP application that includes the HTTP server that started from LWIP contributions; however I modified it quite a bit so that it would serve files out of TFS (basic FFS that comes with uMon). Plus I added some basic hooks to support SSI-like stuff and some form-to-target interaction. Works ok and doesn't need an RTOS; but for really small systems it still needs to be "tuned". So...
I am now working on a condensed version of that package (called uMon-M) for use on devices with very small footprints like the Cortex-M3/M4 stuff. As of this writing, I have it ported to the "Simple-cortex" (http://www.brc-electronics.nl) based on an NXP-LPC1769 (Cortex-M3). The boot monitor itself is a major subset of uMon, but still has all the same fundamental capabilities (FFS, scripting, UDP/IP, etc..). Most of my effort at this point is in the HTTP server as a user interface for an application. It currently works I'm just trying to make it smaller; but still have some reasonable ability to serve dynamic web pages. I've got it hooking to Web Sockets and a very basic SSI-like facility so that the html pages can be more dynamic. Try it, it works as is, and will hopefully just get smaller. It would be great to get some folks looking at this with me for collaboration.