I'm fond of HTTP::Server::Simple. But as you don't tell us what/how the workflow of your developers would be, it's hard to recommend something else. HTTP::Server::Simple is usually used to load another module with then runs the code handling the request. If you want an environment that looks even more like CGI, or even more like mod_perl, you'll have to use a full server that implements these to the extent you need them.

As an aside, you don't need to distribute HTTP::Server::Simple with your modules. CPAN will happily download and install HTTP::Server::Simple if you list it as a prerequisite of your module in your Makefile.PL