IP Helper will get you going.
However it's my understanding that the IP-Helper command will forward ALL broadcasts to the helper address. This is know to cause problems with Microsofts computer browsing elections.
To aviod having a DHCP server for each VLAN, and forwarding traffic , try a network card in the DHCP server that supports ISL trunking. Once connected to a Cisco switch as a trunk you can configure multiple interfaces on the DHCP so it has a presence in all VLANS. (Intel Pro 100 works OK)
Cheers
Mark