This is a method I’ve tested and used on the iPhone and the iPod Touch, and, in theory, should work on the iPad.
The first thing you need to do is jailbreak your iPod Touch/iPhone. Instructions are available here:
[For Windows] [For Macintosh]
iPad jailbreaking is right around the corner as well, as you can see from this [...]

Step 1 : Have an iPhone. Make sure you have OS 3.0
Step 2: Jailbreak iPhone  - Follow exact instructions here: http://iclarified.com/entry/index.php?enid=4448
Step 3: Enter Cydia on the iPhone, go to manage, go to sources, click edit (top right), click add (top left) and type : http://cydia.hackulo.us/ (see screenshot) . Ignore Cydia’s silly warnings
Step 4: click search (bottom [...]