The best way to sync your iCal with your iPhone isn't to setup a Gmail account anymore its to do this:
On your iPhone, go to: Settings> Mail, Contacts, Calendars> Add Account...> Other> Add CalDAV Account>
Now type the following:
Server: https://email@example.com/user/ (replace the you with your username).
Note: if you are trying to sync a secondary calendar, use this URL
Server: https://www.google.com/calendar/dav/[string of numbers and letters]@group.calendar.google.com/user/
Then generate a new password using this link and use the generated password as your password.
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