The Three20 library has a way to do this:
UIBarButtonItem *backButton = [[UIBarButtonItem alloc] initWithTitle: @"Title" style:UIBarButtonItemStylePlain
target:self action:@selector(foo)];
UIColor* darkBlue = RGBCOLOR(109, 132, 162);
TTShapeStyle* style = [TTShapeStyle styleWithShape:[TTRoundedLeftArrowShape shapeWithRadius:4.5] next:
[TTShadowStyle styleWithColor:RGBCOLOR(255,255,255) blur:1 offset:CGSizeMake(0, 1) next:
[TTReflectiveFillStyle styleWithColor:darkBlue next:
[TTBevelBorderStyle styleWithHighlight:[darkBlue shadow]
shadow:[darkBlue multiplyHue:1 saturation:0.5 value:0.5]
width:1 lightSource:270 next:
[TTInsetStyle styleWithInset:UIEdgeInsetsMake(0, -1, 0, -1) next:
[TTBevelBorderStyle styleWithHighlight:nil shadow:RGBACOLOR(0,0,0,0.15)
width:1 lightSource:270 next:nil]]]]]];
TTView* view = [[[TTView alloc] initWithFrame:CGRectMake(0, 0, 80, 35)] autorelease];
view.backgroundColor = [UIColor clearColor];
view.style = style;
backButton.customView = view;
self.navigationItem.leftBarButtonItem = backButton;