As has already been mentioned PCB2GCode does a decent job of taking your Eagle board layout and generating GCode form it. Its positives are that it is free and pretty easy to use. Its downside is that it does not generate very efficient GCode, not does it let you do the isolation milling and rub out milling easily.
I have been mostly using CamBam for PCBs for the past year or more. You can download a demo of it form my website:
http://www.soigeneris.com/documentation-content.aspx#CamBam and you will likely want the Excellon (drill file) plug in as well:
http://www.cambam.info/ref/plugin.excellonio , I posted a modified version of the plug-in that adds the Excellon file extension that Eagle likes to use here:
http://www.cambam.co.uk/forum/index.php?topic=2935.0 . When using CamBam for PCB making you export your Gerbers from Eagle and import them into CamBam. CamBam produces very efficient toolpaths but it is not free (but a darn good value if I might say.)
The real key to milling out good PCBs is using a good fixture to hold the board and using good bits. I like to take a piece of 1/2" cast acrylic as a fixture and fly cut it on the mill. This way I have a piece of stock whose surface is square with the spindle (you have to tram your machine first of course). Then I use carpet tape (a type of double sided tape) cut into 1/2" squares to hold the PCB stock to my fixture, it holds well but is easy to get the board back up. Don't use the typical double sided tape that is like foam in the middle. Next use good bits, take a look at:
http://www.soigeneris.com/pcb_making_bits-list.aspx (my website). Look at the starter and prototyping kits as they get you what you need to get started out. I also posted an Excel file in the 'Soigeneris' section of my documentation page (first link above) that will let you calculate the width of cut vs. depth of cut for various 'V' bits.