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I found a few other answers that hint at the solution. This is what I finally came up with that works:

I created a file my_package-extras.cmake.em that exports CMake variables that point to all of the binary files that I plan to use during the build of another Catkin project. This file detects whether we are doing a devel build or an install build---and sets the paths appropriately---by checking whether my_package_SOURCE_DIR is defined.

Finally, I added the option CFG_EXTRAS my_package-extras.cmake to the catkin_package() call. This file will be included in any CMake files that find_package(my_package). Therefore, those CMake files can use the variables defined in that file to depend on (to insure that its built) and call the binaries exported by my_package.