So I solved this today.......I really wanted to switch everything over to iCloud calendar from Google Calendar (and had entries since 2008).....The easiest way to do this is using iCal on a Mac. The problem was I don't have a Mac. So I went down to my local Apple store (I guess you could use a friend's or work Mac as well). I asked them if I could use a Mac for a bit to get my iCloud calendar to work and was allowed to do so. Here's what I did....
I opened my google calendar on the store Mac's safari (or maybe it was firefox, I don't remember now)
I went into settings and found the export section. Then I exported all my calendars onto the desktop in a Zip file(I have 13 of them!)
Next I opened iCal on the Mac. I added 13 different calendar titles (I used the same titles from my Google calendar) under the add calendar setting (this would be so much easier if I didn't have so many different calendars)
Next I imported each calendar from the Zip file into their respective calendar titles(again this would be easy with fewer calendars but even with 13 of them it only took 10 minutes)
Finally I went to network settings, opened up iCloud setting and put in my user name and password. All my calendars uploaded to my iCloud calendar.
I opened iCloud calendar on safari and logged in. All my calendars were there. They weren't in the same colors as the one's on my google calendar but all of it was there (More on this later).
To finish up I deleted my iCloud account settings under network settings, deleted all the iCal entries, and logged off of the the iCloud and Google calendars (don't want anyone in my stuff)
When I got home I logged in to iCloud and changed the calendar colors to suit my preferences.
Sorry this was a bit long winded....all in all it took about 20-25 minutes and was really easy