Is there an easy way to connect to my home SSH server and use tunnels to access my private network?

For example, here's what I'd like to do:

1) Run iPhone SSH client application.
This stays loaded in the background and tunnels a few ports:
localhost:3000 to

2) Open iPhone safari and browse to localhost:3000.
Because the SSH client is still running in the background this would actually tunnel my request back to my home server.

From what I understand I can run terminal on my iPhone and manually run the OpenSSH client but it's a fairly long command and I'd like something a little bit more elegant (if anything exists).

Also, do any official (eg. non-Cydia) SSH clients support this for the iPhone?