These are located in
/data/data/com.android.providers.telephony/databases/mmssms.db
and
/data/data/com.android.providers.contacts/databases/contacts.db
Edit: I couldn't get adb pull working (requires root, can't remember how to call adb pull with root) but I just opened adb shell and used cp as root to copy it to /sdcard
Edit2: I found this thread and it looks like your directories might be different.