Been there, done that.
Some helpful things:
Make use of modern standards and libraries. For example, use <stdint.h> to get sane and guaranteed-width integer types.
Use functional programming style wherever possible. Function pointers combined with void pointers lets you emulate closures with explicit context binding--something that's pretty powerful. Functions that map over collections and filter over collection structs are powerful.
Write a solid unit test macro framework. In less than 200 lines of C you can setup a project that will let you easily add unit tests and make sure your code is working.
Hide platform-specific things behind functions and typedefs. Writing a simple cross-platform binding to OS primitives like mutices and files and whatnot can save you a lot of trouble if you ever need to port, as can any of the libraries out there that provide such things. My friends and I have a pretty well-vetted one we like to use for these projects.
Spend time writing safe arithmetic routines. Writing a routine that lets you do different-sized integer addition and multiplication while catching overflows is invaluable if you are ever parsing or writing binary formats.
Abandon your error handling. C can be made very, very verbose if you continually check for errors. For example, consider how often you can actually recover from a failed malloc()--and then consider that Linux will just plain lie to you. So, don't bother sprinkling all of your code with "well, tell somebody we bombed out" unless it is truly fixable in the context of the caller.
Consider macros for a DSL. The simple macros in C are not amazing, but can be used with a little thinking to build things similar to Flask route annotations or Java Hibernate annotations.
Allocate memory all the time. Don't mess about with buffers which might get overfilled or cause you to chunk things...just accept that you'll allocate frequently and trust in libc until you know you've got a problem.
Those aren't so much libraries as just techniques, but I think that covers a lot of what helps write C code quickly.