A few days ago at this year's ZendCon PHP conference Zend introduced Apgility, a frontend that makes creating REST APIs with Zend Framework v2 as simple as pointing and clicking. Rob Allen has taken a more in depth look at the tool and has posted his findings to his site.
At ZendCon 2013, Zend announced Apigility which is intended to ease the creation of APIs. It consists of these things: a set of ZF2 modules that do the heavy lifting of creating an API, an application wrapper for creating standalone web API applications, a built-in administration website for use in development to define the API. Rather nicely, it supports REST and RPC and deal with error handling, versioning & content negotiation for you.
He uses his usual demo application (based on this repository) and shows how to get the software installed and running on the built-in (PHP 5.4+) web server with Composer. He walks you through the things you'll need to update in the application to fit it in with the Apigility structure, but they're pretty minimal. Once you fire up the server you'll be dropped into the main Apigility admin interface. From there he shows you how to set up a custom "album" endpoint and testing it with a simple cURL call.