Little more info may help:
If it's a new Zodiac, you've probably got the "New Short" halkey Roberts valves. As opposed to the old short H-R valves, or the old H-R valves.
If you want a manual pump, the standard is the Bravo line of footpumps (most SIBs come with one, I think); the Model 2 (basic), or the Model 10 (I think it was) which had a sort of pressure guage built-in, plus a high pressure stage.
There are also a wide range of handpumps (think "bicycle pump on steroids"), but I don't know anything about them. Might take a look at some river rafting suppliers for info on them.
For electric, again there's a pretty wide array of choices, but most will require you to bulk-inflate, then top off with a manual pump. The exceptions are the Bravo 12 (both standard and the BST), which will pump beyond what your tubes require (you'll pay for that convenience, though.)
Don't know about pressure gauges.