Is there any command or method that I can use to insert the contents of a form (e.g. the user registration form) into a block?
drupal_get_form($form_id) - put it in a module's hook_block
($op=='view') or even... shudder... inside a block with PHP filter on.
You need to find the form id first - look for a hidden input
with the name form_id
within the form. Its value should be the the form id.
Also, you could simply use the Form Block module.