Does TI offer a tool to communicate or program MSP430 
devices using the bootstrap loader?

TI does not offer directly a specific tool that communicates 
with the bootstrap loader. The application note `Application 
of Bootstrap Loader in MSP430 Flash Hardware and Software 
Proposal` SLAA096 does include proven software and a circuit 
example that that can be built easily to interface to the 
bootstrap loader. The application note `Features of the MSP430 
Bootstrap Loader` SLAA089 also contains useful information. 
The application reports are available on the MSP430 website,  
www.ti.com/msp430.
Also check the MSP430 website for third party companies that 
may offer off-the-shelf bootstrap loader tools or solutions.