I also started out with MS Frontpage but found I spent so much time cleaning up the code in notepad, I may as well hand-code.
I would suggest Dreamweaver. It seems to create cleaner HTML, lets you view code and design simultaneously, debugs Javascript, and includes O'Reily reference. You can also buy a couple bundles from Macromedia: Dreamweaver + Fireworks (image editor which does image rollovers/popup menus) $150 and Dreamweaver + Fireworks + Flash! + Freehand (like Illustrator) $250. Now if you already own Photoshop/ImageReady and are familiar with the "Adobe interface," Go Live could be a better option for you. I just found Dreamweaver easier to learn and use.