The Google Voice app does not handle VOIP calling, unfortunately. Texting will work fine, though, and you will get notifications as messages come in.
Well seeing as I text way more than I call people anways, this is still a pretty big win. Thanks
It's called GrooveIP and it works awesome. I use it at work actually. It's awesome. Note: has excellent noise cancellation also, and work superbly with Bluetooth headsets. I use it on my galaxy nexus, and transformer prime.