While there is no port for autokey, it will probably run fine on FreeBSD. It's written in Python, and as far as I can see it doesn't use any special Linux code. try it and it may work! It looks like you'll need either gtk2 or qt4.
There also isn't a port for Gnome-Do. Gnome-do runs on C#/Mono. I took a quick look, and it'll probably run on FreeBSD with *some* effort, but not out of the box.
You can try adding a port request for autokey and/or gnome-do at
the official FreeBSD forums. Perhaps someone there has more time than me