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OK, so that's a vague vote for fusebox. Anyone else have a suggestion perhaps with a bit more elaboration?
Fusebox is awesome. Its easy to implement, you can use on sites large or small. Encourages code reuse, easy to implement custom security, etc, etc. They are now at version 5, v4 is compatible with 5, so any sites with v4 can upgrade to 5 without breaking their app. I read a little about v5 and some of the new features include the use of Coldfusion components, another nice feature of CF. Check it out. You wont be wasting your time!
I'm afraid I don't have extensive experience with Fusebox or Mach-II so I'll mostly speak towards Model-Glue. Unfortunately the encounters I had w/ Fusebox were early implementations that perhaps weren't the most efficient example.
Model-Glue is hands down geared towards OO development which CF code does not have to be. From what I know Fusebox was pretty procedurally oriented, it's only begun using CFCs in version 5. What I like about M-G is the forced separation of presentation and model. It's got a bit of overhead, but I've never noticed performance issues running it. Another thing I like about the framework that it's actively looking to integrate with other highly useful elements such as ColdSpring and Reactor.
I don't believe Model-Glue has much of a learning curve and with OO designs becoming more prevalent in CF, I think it's a good framework to learn and will be in use for some time. For reading material I would recommend the QuickStart at http://docs.model-glue.com. There was an article on CFDJ http://coldfusion.sys-con.com/read/176171.htm that might be useful. Also you can just Google the topic, there's a lot of blog entries out there on it.
My recommendation though is to hit the QuickStart and then try to convert a small existing app that you've personally written. Working through that conversion you'll see the opportunties for efficiently designing your app.
If you want the strictest use of OO principles, then you should go with Mach-II. Mach-II, however, is not the easiest to learn. You can easily incoporate AJAX into any of the frameworks. I have an example of how to generate AJAX ready XML with Mach-II on my site: