we recently had good experience with manpower movers http://www.manpowermovers.com
Two guys worked very hard for five straight hours. The only charge we paid was their hourly rate ($95 for two guys and the truck). I think they charge double time for the drive between houses if its more than 15 min, but otherwise no bs fees like with most movers.

Wife noticed a few scratches on some furniture (IKEA, so no biggy) Otherwise it was a delightfully stress free experience.