Reading over your post again, I think I misunderstood the question. There's not, to my knowledge, a native Maya tool that will blend multiple objects together like that.

You're best bet might be to stack your objects as you have on the left and then, using Snap to Point, use the Create Polygon tool to create a new face over the objects to create a profile like the shape on the right and then extrude it for the desired thickness.

Then you'd delete the objects.