I'm not familiar with swagger, but there are a number of tools which can help with this. Personally I use doxygen due to my need for multi-language support, but there are other options like phpdox and phpDocumentor geared specifically towards PHP development.
In most cases these tools require PHPdoc style comments of one form or another, but these seem to be pretty much standard these days and Laravel already uses them.
As to which tool is best, largely that's a matter of personal choice and taste. I tend to favour those which can be extended, customised and whose output can be styled easily.