I use Handbrake on the Mac, and the settings for one-step DVD to Bold that work for me are:

Start with preset:
- iPhone/iPod Touch

Modify:
- Video quality: average bitrate of 800

Make sure to change the audio track 1 mix to stereo. That's it. Rip the DVD and copy the resulting file to the Bold. Watch, and enjoy. Painless. To make it even more painless, once you change the video quality, you can save it as a preset. You will still need to change the track 1 mix to stereo, however.

The beauty of Handbrake is that it only takes one program.