After being asked to help get the SimpleModal Contact Form demo running on a Drupal powered site, I decided to try and turn it into a Drupal Module. Based on my SimpleModal Contact Form (SMCF) WordPress Plugin, I was able to create something which I think is now ready for a beta release.
The details can be found on the project page. The module was built for Drupal 6.x, so give it a try and let me know if you find any issues.