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Game Maker (which is what Undertale itself was made with [as was Spelunky and Hotline Miami and a couple other notable indies]), as their own made from scratch game
OR
Unitale (a fanmade attempt at recreating Undertale battle mechanics within the Unity Engine, but restricted to just battles, no map, exploration, etc).
I have heard of people scripting the heck out of RPG Maker to simulate Udnertale battle mechanics, but haven't checked out how accurate or easy to use that is for an UT inspired system. Plus, you know, RPG Maker isn't free.