Xilisoft is pretty quick, and PQ DVD is gets the job done pretty nicely as well if your converting from a DVD. If paying for a program isn't in the cards you could always give Videora's iPod Converter a go.
IMO, Slysoft's CloneDVDmobile is THE DEFINITIVE iPod transfering software! Mix it with AnyDVD and you have every Hollywood title (that you own that is), personal home movies, etc. at your disposal! It takes less than an hour and is very easy to use! It comes with a free 30-day trial.
Videora's iPod Converter is free, but the convertsion speed is common. you can try Video to iPod Converter. The speed is fast. Download free from here http://www2.dvd-ripper-copy.com/download/video-iPod-download.php Or you can try Imtoo, it is also good. I wish it is useful to you