PlantUML
PlantUML is a wonderful tool for generating diagrams:
@startuml
allow_mixing
skinparam map {
BackgroundColor white
}
skinparam componentStyle rectangle
component App
component Domain
component System
component Common
App ---> Domain
App ---> System
App ---> Common
Domain ---> System
Domain ---> Common
System ---> Common
@enduml
Mermaid is another recent competitor in the same family: