There is another way of doing this, I just realized. If your plugin has very simple options, you can just add the appropriate rows to the “option” tables, and a new sub-tab will appear on the Options tab on the Admin screens, with an admin page for your options auto-generated. You just need to create a new option group, and define some options within it.
For plugins that only need very simple configuration settings, this might be a good way to go.