Short answer: I'm not aware of a single solution that will do all three languages, at least not without some work on your part. listings will likely be easiest.
minted uses the Pygments syntax highlighter. Pygments currently doesn't support Maple or Mathematica (at least, not unless you can track down someone's custom lexer). So the only way to proceed with minted is probably to write your own lexer (might not be that difficult, but I've never tried).
listings supports Mathematica and Python, but not Maple (but you might look at this). So if you go that route, you will need to define a language (this shouldn't be too difficult; you could start with the link above, and customize to your needs).
Regarding other options: The program highlight can highlight Maple and export a LaTeX version. It also does Python, but not Sage or Mathematica. GNU Source-highlight doesn't have Mathematica or Maple. I've never used either of these. I think that covers all the standard and fallback syntax highlighters (there's also t-vim, but that's for ConTeXt). There are also some language specific options, for example, evidently there's a maple2e package (see this).
You should keep in mind that Sage and Python aren't completely identical (for example, ^ vs. ** for exponents). If you want a more Sage-specific solution, you might see the sagetex package's approach to using Sage with listings. Basically, it defines a new Sage language based on Python, for the Sage console (just search the sagetex documentation for \lstdefinelanguage{Sage}, and take a look at what follows).
