Finally! After much grousing on the part of fans, the Paley Center for Media have recently begun gradually releasing the panels from their Paley Festival television events on DVD; it seems that at last, they've gotten around to the BSG panel from 2006! (This is the one from LA which features Jamie, Katee, Mary, EJO, Callis and Grace, in addition to RDM and Eick. The New York panel from that year - which was Jamie, Mary and EJO - is as of yet still not available to purchase.)
It can be purchased HERE via Amazon; it's a NTSC/Region 0 encoded disc and it retails for $19.95.