Best efficient bender for at home is the ProTools HPM 200.

http://www.pro-tools.com/200.htm

Not only does it do great bends, but it's hydraulic, so no real physical effort required, even on stronger tube (DOM). Also, they give you the plans for free, if you know of someone that can cut out the precise pattern for you, and then just buy the dies as needed.

I don't like any tube bender that you have to mount into concrete in order to make it strong enough (aka, the manual, long-arm standard mandrel bender). I like something small enough you can move around as needed, and doesn't have to be mounted at all. My garages are relatively small, and so mounting a tube bending maching that has enough clearance around it would just waste too much floor/workspace for me.