Ready?
Startup Items in the Accounts pane of System Preferences. Just drag server icons from your desktop into the window like you would any application you want to run at startup. That's it. Not sure if it worked that way before 10.3. As a bonus, use the Add Password to Keychain in the Options when you connect and you wont have to type passwords next time either.
[robg adds: Wow, this should make a lot of people pretty happy -- we've run eight previous hints on automounting server volumes! I tested it from my PowerBook with a Personal File Sharing share, and sure enough, it worked as described.]

