LGCamera claims to do this, but as 3GP is a container for codecs such as H.263 and H.264/MPEG-4 Part 10 (I think it's H.264 on the Desire S), it might be that their interpretation of MP4 is MPEG-4 Part 10 and not Part 14, i.e. 'true' MP4 format. So you'd need to check out the container and codec they're using.
As for ROMs, I think the Virtuous Unity ROM allows you to record in .mp4, but I'm not sure.
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