JoeQuake lists the maps via the map menu. Qrack is based off JoeQuake and therefore does this.
FitzQuake lists the maps via, I'm thinking the "maps" command and prints them on the console.
DarkPlaces does the same.
DirectQ does this I believe.

The weaknesses of at least JoeQuake's way for sure is that it also lists the item brush models (like healthboxes and ammo boxes) because those are also .bsp.
JoeQuake indicates if it is in the folder or in the pak file.
You probably have to "tune" it to trim it down to what you are intending to have it display. JoeQuake, for instance, displays the maps in any pak file loaded and at least in standard Quake even if a gamedir is being used, the id1 folder paks are always loaded so it's gonna list e1m1 and such.