I used DVDFab for one video (used the iPhone setting I think), and that worked well. Though I've recently switched to using Handbrake and have used it for everything execpt converting video for my Storm, I'll try that out tomorrow.
Note, if you plan on using Handbrake to convert directly from a DVD, you may have to use DVD Decrypter to remove the encryption first.
HandBrake
DVD Decrypter