I currently use NoviiRemote on my Palm to learn IR remotes and control my devices. Works really well. Each item has 2 available screens. 1 has a numeric keypad and the typical up, down, left, right, OK center button. There are also F1 - F4 for special function buttons, as well as POWER, Source or Input, Mute, Guide, Menu, Exit, Info and others.
These screens are acutally customized depending upon which device you are trying to control. I.E. when learning a DVD remote, you have buttons for Subtitle, Audio, Disk Menu, Title Menu and others that are limited to DVD.
to download a trial and see if you like it.