...as well as multithreaded and tailored to RNA-seq. Go with featureCounts. You will need a GFF/GTF file that fits your organism/the assembly you aligned to and the BAM files.
### Assign reads to exons based on the GTF annotation:
# --a = the GTF/GFF file
# --F = specify the format of -a
# --p = data are paired-end (unset it if you have single-end)
# --T = set number of threads
# -P = only consider pairs with ISIZE defined by -d & -D, default 50-600bp
# -o = output file
$FCOUNTS -a $GTF -F GTF -p -T 8 -P -o countMatrix_all.txt *.bam
There are many tools for that such as featureCounts, htseq, bedtools (multicov) etc... Also they are well documented.