After dealing with it long enough, I decided to see what I could come up with. I wanted something cheap, and easy to disassemble so it wouldn't affect the portability of the stroller. I came up with two different handle designs. It cost less than a dollar more to make both, so it's worthwhile to be able to test both and see which suits you more.
Step 1: Materials and Tools
These are the materials I used, however, different stroller models will likely have different needs. Use this list to get a general idea of what you will need. I used 3/4 PVC because that's what fit the handles of my stroller. I stuck with 3/4 throughout as I figured it'd make a stiffer handle. It is easy to switch from 3/4 to 1/2, or 1/2 to 3/4 if needed. The best way to determine what suits you best is to wheel your stroller into a hardware store and start testing different fittings.
Velcro Ties - $4.99
PVC Cement - $3.38
1 - 3/4 PVC 5' - $1.49
1 - 3/4 Self Seal foam pipe insulation - $1.50
1 - 3/4 PVC Tee - $0.33
1 - 3/4 PVC Cap - $0.39
2 - 3/4 PVC Snap Tee - $1.32 - Basically a tee with the bottom cut off to allow snapping onto a piece of pipe.
2 - 3/4 PVC Threaded/Slip Elbow - $0.91
Most folks probably have these on hand, or can borrow them for an afternoon.
Hacksaw - for cutting the PVC to length
Utility Knife - for cutting insulation
Sharpie - for marking stuff
Not pictured - Tape Measure - for measuring stuff