I feel like I get pretty far with just https://javalin.io/ or http://sparkjava.com/. They're pretty similar but Javalin is being built by a maintainer of Spark and inherits many of the lessons learned from it.
http://vertx.io/ is extremely powerful and relatively popular. We've used in production for years. Note that it is a non-blocking framework so there is a bit of a learning curve coming from e.g. Java EE.