How much of a framework do you want?
These days, i write most of my applications using the JDK's built-in web server. They're intended for internal use by single-digit numbers of people, and it works fine. It doesn't give you anything except the ability to serve HTTP, though.
Before that, i was writing apps using Spring Boot, which is a framework covering pretty much everything. It's easy to get started with, and requires no XML, but gets complicated fast as soon as you want to do anything even slightly unusual.
A more production-grade alternative to the built-in web server is Undertow, which again just does HTTP, but is fast and scalable, and fairly simple:
http://undertow.io/undertow-docs/undertow-docs-1.4.0/index.h...
Some people swear by Dropwizard as a more lightweight but still framework-sized alternative to Spring:
http://www.dropwizard.io/1.2.0/docs/getting-started.html
The tutorial there uses a smidgen of XML for Maven, but that's all. You can use Gradle instead of Maven, which lets you avoid XML and is generally much better, but you'd have to work that out yourself, or find someone else who has, perhaps this person:
http://automationrhapsody.com/build-dropwizard-project-gradl...
There's also Java EE, the 'offical' framework for Java. It's actually not bad to program with, but you need an application server to run your apps, and although those are miracles of engineering, the user experience is still stuck in the dark ages.
> Hearing things like "To test a bug I had to start 6 services on my computer and then I ran out of memory (computer had 16GB)" doesn't encourage me to try to do web dev in Java.
If you need to start six services, you must be doing some kind of microservice / SOA thing, and if you need >2 GB for each service, you must be using some very heavy-weight application server. Neither of those things are smart, and in combination, they're deadly!