Plugin to add responsive menu/sidebar navigation for Page Headers?

I was hoping somebody could recommend a plugin that would automatically add a responsive menu or sidebar to my pages that would allow readers to easily jump between headers (e.g. <h1><h2><h3>) on a single page. Is there anything out there like this? I did some searching, and couldn’t seem to find anything (most of the plugins I found were manual menu adjusters; nothing that seemed to build a selection based on headers on a page). Any recommendations would be appreciated.