You can get Kauffman's "On the Pass" on DVD.
The other DVD that is out there is "Pass With Care" by Peter Cassford. I don't have it but I've seen mixed reviews... some love it and some hate it.
I have them both, and effectively learned the meager pass I perform from eagerly watching both.
Brad Henderson pointed to me that Cassford tends to rise up on the balls of his feet when he does the pass. I found that this is only true when speaking to the camera. He dances form one foot to the other when performing it out on the streets. Still, with this in mind, I found that Cassford covered a little bit of handling that Kaufman did not. The handling has the potential to look less natural, but I found the method a little easier to handle. He also has some advice on covering his handling above and beyond the usual covers.
One nicer element about the Cassford dvd is that it is set up to watch him perform the pass on loop so that you can practice along. If memory serves, the loop is made up of him performing the pass five times. This loop plays until you interrupt the dvd player with either a "stop" or "disk menu" command.
The Kaufman pass is considerably smoother and slightly less suspicious. It would almost certainly appeal more to the "hardcore" crowd. By omitting the same handling that I liked from Cassford, Kaufman's pass is both more natural and (to me) more difficult. Brad told me with no room for mistake to study from the Kaufman video if those were my two choices.
So, to summarize: Cassford's pass is probably a little easier to learn, but with a couple of pitfalls and caveats. Kaufman's pass is smoother, more natural, and more recommended by others. Like all good things, it takes more effort to perform correctly as well.
I like both and have learned from both. My experiences and my education from more accomplished magicians lean toward the Kaufman video for the more serious student.