BigBoss & Planet-iPhones have posted Categories for download via Cydia. The application comes with a GUI to configure the folders and then a launcher that gets installed each time you create a folder. Each folder is actually an app that runs. As icons are moved into the folders, they are removed from the springboard cleaning up the mess. As icons are removed from the categories, they are added back onto the springboard.
I have posted a detailed tutorial on how to do this here