Sextante is a geoprocessing library that can be used from several GIS applications. I recommend you to use it from gvSIG as i think that it has the best integration. Sextante also allows (if you configure it properly) use algorithms from SAGA and GRASS.
Here you can see a video that shows how the modeler works.
Update: From March, qgis also has a Sextante plugin that works really well.