There are a lot. I work in the industry and IBM Doors is the traditional tool but everyone hates it. Jama and Valispace are more modern tools, and there are various addons for JIRA as well. Those are all for general use, if you consider software requirements there are a ton of other tools.
MS Word plus manual tracking is also common but revision and configuration is control is a nightmare.
MS Word plus manual tracking is also common but revision and configuration is control is a nightmare.