I have an Android HTC Desire and I'm syncing iCal and Google Calendars just fine. Here's what I do:
Login to your Gmail account and enable Calendars
In iCal, go to System Preferences>Accounts>+ to add an account
Be sure to choose Google as the account type (using Automatic screws up the sync)
Enter your Gmail information and click Create
Your Gmail calendars will show up in iCal. You can create multiple calendars, but you have to do it in Gmail. iCal recognizes these as delegates and the delegation feature has to be enabled through system preferences>accounts>delegation for your gmail account. If you're using a Droid, you have to love your gmail. All your syncing is done that way. My experience is that all the syncing applications for the Mac are a waste of money, but the OS builds in lots of options to sync to other servers quite nicely. Same for Address Book. Be sure to enable the syncing in Gmail then log in to your account through Address Book's system preferences.