DS? Nu-uh, no way...! You have to open up your DS and modify it yourself so it can be connected to TVs.
Or ask Nintendo nicely to sell you the I(ntelligent)S(ystems)-NITRO development kit.
(which won't happen, because you're not part of the press)
PSP? Yea model 2000 and up has some kind of TV-out function that I haven't bothered using at all.
I stick with the "perfect-image-quality" RemoteJoy instead. The Lite version works pretty good. ^^
If you have a strong PC, you could try and record a lag-free session of no$gba for your DS games.