Creating a Rails generator
Here is a simple example that works with rails 6.1.
First create the generator scaffold:
» bin/rails generate generator stimulus_controller
      create  lib/generators/stimulus_controller
      create  lib/generators/stimulus_controller/stimulus_controller_generator.rb
      create  lib/generators/stimulus_controller/USAGE
      create  lib/generators/stimulus_controller/templates
      invoke  test_unit
      create    test/lib/generators/stimulus_controller_generator_test.rb
This already gives you something for free:
» bin/rails generate stimulus_controller --help
Usage:
  rails generate stimulus_controller NAME [options]
The contents of the help message are defined in the USAGE file, that you can update to something like this:
Description:
    Creates a stimulus controller
Example:
    bin/rails generate stimulus_controller thing
    This will create:
        app/javascript/controllers/thing_controller.js
Now you can edit lib/generators/stimulus_controller/stimulus_controller_generator.rb. All public methods of this class will be executed in the order of definition.
class StimulusControllerGenerator < Rails::Generators::NamedBase
  source_root File.expand_path('templates', __dir__)
  def create_js_file
    template "controller.js", "app/javascript/controllers/#{name}_controller.js"
  end
end
And define the template as lib/generators/stimulus_controller/templates/controller.js:
import { Controller } from "stimulus"
export default class extends Controller {
  // static targets = []
  // static classes = []
  // static values = {}
  //
  // connect() {}
}
Links
The official documentation is very good: