Ephpod can do it.
Also you can simply enable hidden files/folders and copy the ipod_control folder back to your hard drive. Then unhide&turn off read-only, and add the files to your iTunes library. Assuming you have "Keep my music organize" checked in preferences the files will be renamed to their correct names. I generally check "copy to my iTunes music folder" as well before adding so the files all get put into nice artist/album/trackname - song format. I then delete the originals.