IMO the easiest, quickest and best looking (my eyes anyway) is cloneDVD and anyDVD.
Anydvd is a driver that runs in the background all the time silently until you insert a dvd. Then it removes all the protection, restrictions etc and so can be copied using clonedvd. Here you only need to click about three buttons and away you go. 25mins later you have a perfect copy of a film.
Doesn't get much simpler than that, however they do cost money. But they are well worth it, as nothing is as easy or quick.
Take a look in their respective froums to find out a lot more.
Hope this helps