Depending on how you have it set up (using Gnow or svoice), just ask it to "read my messages" and it will. Can't say the name of who texted as it will just put it on screen....such as "read message from michelle". Just say "read my messages". And turn off driving mode!! That thing sucks....
This is one area iPhone has it right. But like others have said there are apps that will fix it and do exactly what you want. Like me, I have an old Motorola Command one that syncs and works with the Motorola MyMotoSpeak app. I just pair the Command One to it and once that's done, I can use ANY bluetooth device with it. It's flawless for phone, texts, directions, and etc.