STLink
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SWD can be used to upload the firmware to stm32 MCU without a bootloader.
A ST-Link is needed, any stm32-discovery board has one on it (starts @ 8€).
A standard ST-Link costs from 17€
Needed Tools
st_flash and st_util need to be installed, compiled from source (https://github.com/texane/stlink)
Howto
Connect the ST-Link to the MCU. If a complete stm32fx-discovery board is used, CN3 jumpers need to be set. To program a external MCU, remove CN3 jumpers and connect the external MCU with the SWD header.