You can use maven-dependency-plugin, but the question was how to create an executable JAR. To do that requires the following alteration to Matthew Franglen's response (btw, using the dependency plugin takes longer to build when starting from a clean target):
<build>
<plugins>
<plugin>
<artifactId>maven-jar-plugin</artifactId>
<configuration>
<archive>
<manifest>
<mainClass>fully.qualified.MainClass</mainClass>
</manifest>
</archive>
</configuration>
</plugin>
<plugin>
<artifactId>maven-dependency-plugin</artifactId>
<executions>
<execution>
<id>unpack-dependencies</id>
<phase>package</phase>
<goals>
<goal>unpack-dependencies</goal>
</goals>
</execution>
</executions>
</plugin>
</plugins>
<resources>
<resource>
<directory>${basedir}/target/dependency</directory>
</resource>
</resources>
</build>