I did all that by hand starting out. Although it was a good way to learn, I fear I've missed things. I'd love to have someone else managing the legal and tax side of things...especially now that I've sold my software to other states, so my situation is getting more complicated.
Is there an Atlas-like experience that takes on existing businesses?
Outside of that (and depending on your current success & needs), there are CFO consulting services that do this work and much more. Of course, most of them work in small teams and are more strategic to support businesses that are say 20-30+ employees.