I use BackupPC at home and at work. It backups up linux clients easily.
Setting up Windows XP pro as a client is actually pretty easy, too, using a very small version of rsyncd that is available at the BackupPC site.
I have not had luck setting up XP Home as a client using rsyncd, I suspect because of the way it handles permissions. If an XP Home client is on an internal network, you could share the folder you want backed up I don't do that because the XP Home machine I want to back up is a laptop -- shares bad on laptop.