OpenCA's OCSP Responder meets the RFC 2560 standard for OCSPD response.
What's great about this software is that it's actually included in the main OpenCA distribution package, making it incredibly accessible. If you do prefer to install the daemon as a stand-alone application though, all you need is a CRL (or access to an LDAP server where you can source the CRL from).
While extensive testing hasn't yet been carried out, it should be noted that this daemon reportedly works well with Mozilla/Netscape. If you have any testing feedback of your own, you can send an email or subscribe to the OpenCA mailing lists to discuss it further.
To install the package, all you need to do is follow the provided INSTALL script and edit the configuration file to suit your specific needs. Just be aware that you will need the 0.9.7 version of the OpenSSL package (the current source code is 0.9.7d).
Overall, I found the OpenCA OCSP Responder software to be incredibly user-friendly and versatile. Some updates to note include the recent release of version 1.1.1 Stable which removes the requirement for the index file option in the configuration file (as it wasn't used), and the development release of version 1.5.1 RC1, which includes thread support and improved HTTP header parsing.
Version 1.5.1 RC1: N/A