I'm biased because I'm the founder of the company, but you should check out the certificate management toolchain (CA[1] and CLI[2]) we've built at smallstep. A big focus of the project is human-friendliness. It's not perfect (yet) but I think we've made some good progress.
We also have a hosted option[3] with a free tier that should work for individuals, homelabs, pre-production, and even small production environments. We've started building out a management UI there, and it does map to the CLI as you've described :).
[1] https://github.com/smallstep/certificates