Do you still have both phones? If so, the VZW store will do it. Otherwise I'm sure you could sync your contacts to outlook or GMail or something and then import them into your Droid. I had mine done at the VZW store. Syncing them with Facebook and getting people's profile pictures next to their name in my list is very cool!
I agree, If your Storm was still active, I would have suggested installing googlesync on the phone to sync your contacts and calender with gmail. Then, your Droid would pull the info down with no headaches.