Is there an automated way to create a change log using TFS 2010 and the version history of the files? I'd like to pull in all the comments that were entered for each changeset either between a label (or a specific date) and the current version, or between two labels (or two specific dates).
Are you asking
If #1, my answer is "I don't know, but I would check CodePlex and the Microsoft TFS downloads on MSDN" for this type of tool.
If #2, there are web services you can use to query TFS. They don't have the "give me all changes between X and Y date or A and B release", but you can get information on changesets, work items, etc. As you would be creating a document, good check in note discipline is mandatory to get a coherent document, unless you just want to know what was actually changed in code, which I think is overkill.
Are the APIs mature enough to easily automate to create version 1.x changes are type of documents? My answer is no, but your mileage may vary.