There are ways, based upon setting up your GV correctly.
You will need a Friend/Family plan (Sprint@Home add-on or Pick 3/5 will work). You'll also need a calling program (GV CallBack will work; it's on the Market). GV CallBack automates the process.
Set your GV number as your Fav or Sprint@Home number. You then need to tweak your GV settings to ensure Call Screening and GV as your Caller ID. There is a reason for all this, mostly having to do with having your GV show up when folks call you.
I can go over each one if you like.
This works for free calls using Google Voice.