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I have an old hobby iron. I moisten a paper towel or clean cotton cloth, lay it over the dent, and gently iron. Dents disappear immediately. I have been doing this since my old model airplane building days. Dents were very easy to get in balsa!

Ken

I think all us had to use this technique at least once. Lots of hints and help at this link.
http://www.youtube.com/results?search_q ... +tips&aq=f
Here is a whole section of hints and tips that you may find handy

Don't be too quick to sand after the steaming. If you sand while the wood is still swollen from the steam you may be left with a slight divot when it dries.

I too have used a soldering iron and a wet cloth. Works like a charm.

I've also used the tip of an old clothes iron as well....not as hot, hard to scorch...I don't trust myself with soldering irons....too many mistakes. Glad it worked out for you.