I still don't own a BD-ROM (don't see much of a need until games start coming out on it...which is unlikely with the push to digital distribution instead of physical media), but it's apparently pretty easy to do with some freeware stuff.

Back in '09 Maximum PC did an article on ripping DVDs/BDs and they recommended Ripbot264. Since you're not going to be dealing with copy protection, that should be all you need. Not sure if Handbrake can handle it as well, but it sounds like Ripbot264 is fairly straightforward.