I'm a big fan of John Hubbard's "Vector Calculus, Linear Algebra and Differential Forms" text. I was a TA for the course twice at Cornell and was amazed at how well it went. The text has an extremely pleasant "zest" to it. When Hubbard asked me to take a look at it my first response was the text is "overflowing with the spirit of calculus". I still believe that. I have a hard time containing my praise.
The main problem with the text is that it's so engrossing. It places more demands on the student than a traditional service course text would ever consider. But it's also far more rewarding. At Cornell it was taught as a branch of their traditional calculus sequence -- it was a course that was earmarked for keener students, mostly from other departments.
In short, if you want to have physics, engineering and economics students appreciating the derivative as a linear approximation, thinking Lipschitz bounds for functions are cool, being interesting interested in the computation of norms of linear operators, etc, this is a great resource.