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Velocity or even better FreeMarker. In JSP you cannot have runtime dispatch for pojo hierarchies and everything is statically typed which is a pain. Moreover if you create many JSP2.0 custom tags (say more than 100-150) then your development-deployment cycle will slow down heavily due to inefficiencies of Jasper to resolve dependencies efficiently.
On the other hand JSP has great tool support.
slow JSP compilation references:
http://www.mailinglistarchive.com/users@tomcat.apache.org/msg10786.html