Norm at http://www.instantdentrepair.com/ did a great job on my first door ding last year. He does all of the cars at Patriot too. $100 for this, (I wasn't paying for it, so I didn't really care about the price)
He uses a steel plate with a ball-bearing nub on it and taps from the inside like a thousand times, using a blow torch to slowly heat the paint and keep it pliable, otherwise it cracks.