I think TouchCopy does it as well although I haven't used it for a while. Again, if you Google it you should be able to find it. TouchCopy is free for a short period and does limit the amount you can transfer during the free period. The full version isn't that expensive as far as I can remember.
I just did Music Resue - search music rescue - very easy to use and it is free, if you want to pay the $15 then you will be able to rip the music w/o having to be 'asked' to purchase it using the freeware after every 50 songs.