I have an iPod Touch and this app is a MUST HAVE for any android phone owner with paid-for songs locked in their iPods.
I've written a review, with screenshots.
iSyncr syncs your iTunes music to your phone as *.mp4 files. It only works with iTunes on Windows.
It will sync any non-DRM'd content that's in a playlist: music, podcasts, etc. (Music on iTunes no longer has DRM).
It costs about US$2.99.....though I don't recall clearly, the amount was so trivial.
EDIT: I've also been told that "Double Twist" does the same thing, from the Windows end of things. Looks really nice, too.