Gaston
You can take the OpenSDA project (it is available as source I believe) which generally runs on a K20 (or similar) and supposedly bit-bangs the SWD protocol to read/write/program/debug SWD based processors.
You should be able the use the same routines to do what you want to do.
Alternatively you can take any FRDM-Kx board and use its on-board OpenSDA interface connected to other boards - there are various tutorials/blogs about doing this - eg. https://mcuoneclipse.com/2014/08/09/hacking-the-teensy-v3-1-for-swd-debugging/
Regards
Mark
