Since I upgraded my OS to yesterday, I figured I would write a guide on how to do it. The article is geared towards various operating systems on the Storm, but at its core it's a generic upgrade article, with links to the latest OS for each device.
Check it out, and let me know what you think in the comments!
Also, there is a lot of information in the upgrade guide in the FAQ section - from easy to more difficult directions depending on one's experience. For beginners, I highly recommend the 101 guide or CX's guide based inpart on the 101.