If you want ANSI output, I don't know of a way to accomplish that, but Vim has a :TOhtml command which I have been using in one of my Makefiles (simplified here):
vim -gf --noplugin -c 'if has("gui_running") | stop | endif' \
-c 'runtime syntax/2html.vim' \
-c 'w foo.html' -c 'qa!' foo
The first line where it runs "stop" if the GUI is running doesn't actually stop gVim, it just minimizes it. The second line with the "runtime" command is basically what :TOhtml does—I don't recall any more why I chose to do it that way instead of using :TOhtml. The third line writes "foo.html" and quits, and also includes the original file on the command line, which is "foo" in this case, and you could possibly change it to - instead.