If you want something “off the shelf” then something like https://garageio.com/ might suit the bill.
But for about $10 you can get a Wemos D1 Mini (ESP8266 board that has wifi) with a Relay Shield. I used the “Homie” framework (a search of the forums should find it) and I was able to program it up easily enough to talk to my openhab server.
I have 3 of these controlling 2 garage doors and an electric gate. I also added magnetic reed switches to my setup so I can actually tell if the garage/gate is open or closed. A couple of times I still get that email from OpenHAB at 11pm at night reminding me that I’ve left a garage door open.