For reference, check how the Cydia iPhone guys are doing it:
http://www.saurik.com/id/7

From the official dpkg-buildpackage toolchain they seem to be only using dpkg-deb -- the packer, which is readily available even on windows. He then tests on real device.

Also, they have standard cross compiler installed in /usr/local/bin/arm-apple-darwin8-gcc, etc. (from reading some of the Makefiles of cydia iphone software I gathered).