We have a guy in town that does that stuff. I only buy used vehicles and I've used him on all of them until now (My Ranger has no dents).
He did a pretty big dent on the hood of a Nissan Frontier for me (about 12" x 18"), I didn't get pics of that one. He charged $85.
Anyway, my Cherokee had a dent about the size of my palm. It was on the left post outside the rear lift gate. This guy uses just basic hand tools and heat. He did this repair for $85.