He's got a view sliding up inside a background view. For what I need to do (right now), I ended up doing this:
self.tweakPage.view.frame = self.view.window.frame;
You can also get into his NIB and put in a close button instead of the one he's got, and get rid of the UINavigationBar... actually you can do whatever you want. The example code is (like) perfect!
UIImage *image = [UIImage imageNamed:@"blueButton.png"];
UIImage *stretchedImage = [image stretchableImageWithLeftCapWidth:12 topCapHeight:0];
[self.closeButton setBackgroundImage:stretchedImage forState:UIControlStateNormal];
Animation on iPhone is pretty simple, or at least the simple kind is. This is 99% from the CustomUIActionSheet code above.
NOTE: I just noticed that this is behind the times. See this question on SO.