VobEdit (download link) allows you to extract the audio and/or video files from DVD VOB files. Typically I will use ffmpeg to extract audio or video streams from DVDs, but sometimes the DVD were not burned properly giving ffmpeg an error that prevents the extraction. Here is where VobEdit comes it. Select the VOB file, click the "demux" button, select the stream, select save location and you’re done! Other features include splitting, joining and remuxing VOB files
Kudos to Doom 9 for providing great resources for VOB tools and many other DVD/encoding/transcoding information
