This link and the similar links for method servers will show you all the JMX MBeans and their attributes as you'd see them in JConsole or VisualVM -- except via HTML and all in one report.
As you note there's a downside to the "all at once" nature of this output, but the upside is that its all there and you can scroll around and/or use the browser's find to search out all kinds of information. Also at the top of this report there is a high-level summary and a table of contents (very similar to JConsole or VisualVM's MBean tree) with links to each MBean's details.
What this doesn't give you, of course, is MBean action/operations. For those you need to actually use JConsole or VisualVM.