There are companies that can do it but they don't tend to like converting copyrighted material. They might do it but they always advertise about converting home movies and stuff like that.

I have a DVD/HDD recorder (which are great by the way). I just hooked up my VHS to it, hit play and recorded everything onto the Hard Drive, edited it if needed, and then burnt it to DVD myself. It's real time so a little time consuming, but you can set it up and walk away.