I agree with Handbrake. However, sometimes I've directly ripped DVD's to the MP4 format and iPod won't recongize them. I normally rip as AVI's and convert to MP4 using VisualHub (which is great, but not free.)
You are free to do what you want, but I would not recommend this process to anyone. It takes way longer and you are compressing the video twice which results in a greater quality loss when compared to going from DVD straight to MP4.
OP, can I ask what you don't like about handbrake as it really is the gold standard for this sort of thing?
But, if you are dead set against handbrake, then I second the Mac The Ripper to rip the DVD and iSquint (which is a free single purpose component of Visual Hub) to convert to MP4.