http://www.videohelp.com/tools?tool=Cinematize

This is trialware, apparently they just added MPEG-4 support for PSP and iPod

http://www.videohelp.com/tools?tool=...iPod_Converter

This one is freeware, but you'd have to rip your DVDs manually with something like DVD Decrypter and then maybe remux the files into MPEG instead of VOB