I've been tinkering with my Ancient/Fantasy rules Battles of the Riverland for a while, and also playing with the 1990 computer game Centurio: Defender of Rome. The love child of the two is Hex Conquest, a small 11-page PDF.
I have also created five sets of printable "armies", or to be precise, one type of unit in five colors. These can be printed at a thick card, or normal thin paper, then glued on some sturdier piece - the idea is much alike that of the printable Napoleonic armies produced earlier.
Here's a Blue battle infantry unit for a teaser:
You can access both the rules and armies from the links below, and from the Rules page:
Hex Conquest rules
Hex Conquest printable armies