Not packages but these are online tools
- UCSC Gene Sorter
- BioGPS, Example result for TP53.
- Gene Investigator (Login and Installation required)
- EMBL - Expression atlas, Example result
In order for an algorithm to be useful, you would need a large dataset covering many different tissues. So, I would focus on databases designed to cover multiple tissues:
TiGER has an easy to use web interface: http://bioinfo.wilmer.jhu.edu/tiger/
Other than that, +1 for the recommendation to use the EMBL Expression Atlas (which includes RNA-Seq datasets like the Illumina Body Map)
If you're looking for a database of expression patterns, including tissue-specificity, you can take a look at PaGenBase. In case you want to identify tissue-specific genes in your own data, you can use tspex, a tool that I've developed. It offers a variety of tissue-specificity metrics, including ROKU.