if you only have flat objects then choose Offset apply the width you want inside or outside of the cirlce then select both curves and extrude as solid, done. if you need more complex shapes than square ore rectangular, there is a script out here somewhere which might do that. here it is at least for square shapes. maybe it could be adapted to other shapes.
sweep will for sure be a bit more work but would provide more flexibility in matters of shape if the script would not suffice.