I too have a 02 Shadow ACE. I have the Vance & Hines Cruzers. Great sound, although I wear ear plugs as I have lost a portion of my hearing throughout my music career and I don't want to lose any more. The Vance and Hines have a definite bark to them and can get pretty loud when the throttle is opened. The Cobra's are also nice - not sure what they are called, but the ones that look like a double barrel shotgun and extend near the back end of the tire. Check the Exhaust Systems section here, someone has a used set for sale.
It would be great to have someone chime in here with Cobras to offer their opinion as well.
Yep, I took out the packing too. The Cruzers sound like crap with the baffles out, but with the packing off the baffles, they seem just right to me. Loud enough at idle to sound good, and very loud at throttle. Exactly the sound I was looking for when I replaced the stock pipes.