MyEclipse has a pretty decent one, it costs money however. One of the reasons I went over to Netbeans is because of their JSP editor, which is still far from perfect but better then vanilla Eclipse.
I followed the advice of Simon Gibbs in this answer and found it worked out fine - if you're in a hurry, the "Web Page Editor (optional)" package from the Eclipse update site does the trick.
For the Eclipse-challenged (me) Help > Install New Software > Work with > Expand Web, XML, and Java EE Development > Select "Web Page Editor (optional)" and "next-through" to completion.
"Web Page Editor (optional)" package from the Eclipse Galileo/Helios update site has the following very minor quirks in a JSP editor:
Auto-commenting in Java code fragments does not work (Ctrl /); [fixed in Helios SR2]
[present in Galileo, fixed in Eclipse Helios SR1] If a Java code fragment has errors that are already fixed, the editor does not remove the error marks until you modify the erroneous place or close/reopen the file being edited;