If you have MOSS installed, the Business Data Catalog can be setup from the Sharepoint Central Administration to automagically synchronize data for you. This is a very powerful product and is included with MOSS. I love it when a client has it enabled so I can take advantage of it.
But some don't and for myself, I've found that if they don't have BDC running and available, inevitably they don't give developers many rights to SQL Server so SSIS is generally out of the question (but maybe that's just me). No problem; for those I'll pull together a lightweight EXE that runs on a scheduled task that queries Lists.asmx and pushes changes to a SQL Server table. Fairly trivial stuff for a simple list where nothing is deleted. Get yourself Visual Studio 2008, CAML Builder, and prepare for a good time. The Lists.asmx results is a little funny in that a list's row's fields are each a single node with a lot of attributes, with no child nodes ... something like this off the top of my head ... just remember that when coding ...
<z:row ows_Id="1" ows_Field1="A1" ows_Field2="B1"/>
<z:row ows_Id="1" ows_Field1="A2" ows_Field2="B2"/>
Complications in code occur with copying lists where items are deleted, or where there is a parent/child relationship between SP lists. You'd think I'd have some code to send you, but I haven't bothered putting together something I could reuse.
I'm sure there's other ways of handling it, but the scheduled task EXE so far has been reliable for me for multiple apps for multiple years.