Here's a link to the emissions page on Josh Tickell's site:
http://www.veggievan.org/biodiesel/articles/emissions.php
And I came across this test by someone at the CBC:
http://www.cbc.ca/consumers/market/files/cars/biodiesel/emissions.html#
But, remember that a lot depends on the individual engine. How much NOx you create (in whatever type of engine) depends a lot on temperature as well. And, you have to take into account that the quantity of CO2 emitted is no more than what was taken up by the plant when growing. So, no NET gain in CO2 in the atmosphere. Burning fossil fuels, we do have a net gain in the atmosphere as we are releasing carbon that was trapped a long time ago when life and the earth were different.
And this is a PDF of an article published by the Society of Automotive Engineers. Pretty long and dry, but actually an interesting read:
http://bengal.missouri.edu/~pavt0689/Review_Utilization_of_Rapeseed_Oil.pdf