Rod Elliot's Project 85 sounds like it is just what you are looking for. I haven't built one myself - but it looks like it will do what you want. Unfortunately, he doesn't sell boards for this like he does for many of his other projects.
There are some good articles on this
page which you might be interested in if you are designing an amp. There are also some good amplifier designs. I built one of his amps and I am very impressed.