The first tubes I ever bent were bent using "Tube Bending 101" from Pirate. Then I bought Bend Tech EZ and after a while moved up to Bend Tech Pro. Everyone I know that has a need for it uses either EZ or Pro.
I haven't shopped around in several years but don't know if there is anything else out there with the features of Pro for the money.
I use Bend tech EZ. But here is a cool program for notching tubes. You just plug your numbers in and print out "wrappers" then trace the shape onto your tube.