RJ,
The secret to removing a dent in wood is steam. A soldering iron, steam iron, or anything that can apply localized heat will work work. Wet a cloth and place it over the dent and apply the heating element.
Keet in mind that what you are doing is driving moist steam into the crushed wood fibers to losen them and coax them back into their original position. By forcing scalding hot moisture into the fibers of the wood you run the very real risk of delaminating venner and/or damaging any finish that exists on top of the wood.
Here is link that has some info
http://extension.usu.edu/files/publicat ... /HI_24.pdf
If you want to maintain an original finish, I would learn to live with the dents.