At work, we use BackupPC over a remote SSH login. BackupPC is an open source, disk-based backup system.
We also evaluated Amanda and a variety of other open source backup packages. None of these actually require the use of tape drives, but most of them still use a heavily tape-based model. And we didn't particularly enjoy worrying about virtual tape volumes.
BackupPC, on other other hand, requires a single large disk partition to use as storage pool, and it stores content using a chained hash of file contents. This allows it to consolidate files that are duplicated across multiple servers and multiple backup runs. So if you have multiple servers with duplicated content, BackupPC will use considerably less disk space.
If you're only trying to back up a single server, then rsync may also be an excellent choice. But BackupPC has a web-based administration interface, and it supports incremental and full backups. It can be configured to avoid backups during business hours. (However, if one of your servers hasn't been backed up for a long time, BackupPC will go ahead and grab a backup whenever it can.)
Overall, it's a very simple system to maintain. It runs without any human intervention, and it e-mails you if something goes wrong or if a server's most recent backups are getting too stale.