Visual Studio 2005 makes it a mouse-click away…  Just mouse over the DataSet variable in your code, wait for the IntelliSense tooltip to show up, and then expand it by clicking the little down arrow sign (not the + sign, which gives you functionality akin to Autos or Locals window).

Reference:  http://loudcarrot.com/Blogs/dave/archive/2005/02/03/1406.aspx