Convert existing html.erb to Haml
http://www.htmltohaml.com
A more user-friendly alternative to the selected answer.
You can use from the command line html2haml
html2haml your_erb_file new_haml_file
If you want to convert all your files in one go, look at this article : http://shifteleven.com/articles/2008/06/08/converting-erb-to-haml-snippet
There you go: http://html2haml.heroku.com/
EDIT: Moved to https://html2haml.herokuapp.com/
David Leung provides this gem on github that installs two rake tasks.
With erb2haml, you can easily convert an entire project from erb to haml with either rake haml:convert_erbs
or rake haml:replace_erbs
.