There are many ways to deal with this, depending on what you're placing them under.
I typically just grab a 1/2" piece of soft wood, which basically collapses once the vehicle is on it and provides both a "cushion" and a greater surface area as a contact point. You can make pads out of hockey pucks but cutting\grinding reliefs into them, use rubber liner, etc......
It all comes down to how much of the vehicle you're wanting to protect as well as how much non-slip contact surface you're after (if that's a concern).

 

Thanks for the suggestions! You know your fellow Touareg owner is Canadian when he starts talking hockey pucks to lift a car

 

I am pretty sure it's the same as in 955/957 Cayenne. Can't post links yet since I just registered but search for

Jacking Up the Porsche Cayenne | 2003-2008 | Pelican Parts DIY

and you'll find a great article with pics

 

Great, just what I was looking for! Thanks @957_Cayenne!