(old question, but I wanted to post my findings on the subject)
For high-quality graphics, Anti-Grain Geometry is a good choice. It compiles to about 50kB and can be customized to write into all kinds of framebuffers and rendering devices:
http://www.antigrain.com/
For user interface, Gwen appears a good choice. It is easily portable and can be customized to render either bitmap skinned controls or just rectangle/circle/line forms:
https://github.com/garrynewman/GWEN
Then if you are also selecting an RTOS, NuttX has it's own graphics subsystem and widget toolkit:
http://nuttx.sourceforge.net/