I use DVDDecrypter to rip the DVDs, and then DVDShrink to compress and pack them into an ISO.
For single layer discs, I use DVDDecrypter in ISO Read mode.
DVDShrink is great, especially the Deep Analysis option that better compresses the DVD. I used to use DVD2One way back, but Shrink has it beat by miles. Faster and better quality.
Plus, I use DVDShrink now when I just want the movie as well. Before, I had to strip with IFOEdit, get new VTS sectors, and all that crap. With Shrink it's quick and painless. Plus, I like the reauthor option. For my DVDs that have both WS and FS on one side, I put the WS movie first, and then have all the special features play after the movie. It's easier than learning a program to manually strip out the FS version while keeping the menus.