Definitely MiniDV. Don't go with the DVD recorders, as Justin mentions. The quality is not the same, nor is the recording time.
As for cameras, a lot depends on your budget. If it's within your budget, the "Pro" or "Prosumer" lines of Panasonic, Canon and Sony are probably the leaders. Each of these manufacturers have models in the ~$1,800 - ~$4,000 range that are great.
There are lots of good ones under $2,, too. Be sure to get a 3-CCD model, with the largest CCDs you can afford. Don't focus on combined "digital still-camera" features. None of them are as good as some of the cheapest digital cameras and are a waste of time to worry about. (The higher-end cameras don't even have the digital still camera features.)
Good luck.