brakes

I don't drive my van too often, just when I need a big vehicle.
When I do drive it, I have a hard time getting the rust of the rotors. They appear to rust under the pads, and give a very rough ride when the brakes are applied. If I drive it often enough, I can scrape the rotors clean by riding the brakes, but this time (humid summer), it's really bad.
Any ideas on re-surfacing (at home) (sander, grinder, etc.), or are there rotors that don't rust so badly?
thanks

Stainless rotors ($$$) or live with it. I get the same thing every time I wash vehicles.