I used Dentwizards. http://www.dentwizard.com
The technician guy who did mine is married to one of my coworkers. He charged me like $20 a dent for 3 door dings, total $60. He also took care of around 4 or 5 on my wife'* car for another $60. But they sort of just look at it and give you a price for how much time it'* going to take them. There might be room to haggle. He showed me a big dent (maybe 8" diameter) in a car in the parking lot and said he'd completely remove that for around $210. It would cost a lot more to have a body shop grind the paint off, straighten it, and refinish it.
But for door dings, I'd just go with DentWizards. I'm very happy with the results.
97 SE, teflon wiper blades, Dunlop Sport A-2 tires, Leather steering wheel cover, Pioneer DEH-P480MP mp3 CDRW head unit, Pioneer 12-disc changer, iPod hookup, Boston Acoustic 3 way 6x9'*, Boston acoustic separates in door pods, Alpine 4 channel amp in trunk. Magnaflow dual outlet muffler and Ractive stainless tips. Autozone rice pipe and K&N 4750 intake kit. Clear corner lights. Energy Suspension end links.