Hm, sorry about that, I never tried, just assumed you could. But it's not necessary in this case:
(This seems more complicated than it actually is, I'm just laying everything out so that I don't assume you know to do something that you don't; apologies if it seems condescending in any way, just want to be thorough)
1. Use disc utility (or CCC) to create a disc IMAGE of your G5 hard drive. It's ok if the intel compy says the image won't be bootable, as you won't be trying to boot it from the intel mac. It's also ok if it give the generic "cannot boot from disk image" warning, as you won't be. The next couple steps will be based on Carbon Copy Cloner, but you CAN do this with Disk Utility if you want to.
2. Select your source disk (the G5, you can actually use the G5 to do this and just save the image to the USB drive or the Intel Mac if they're networked).
3. For your target disk, select "New Disk Image" and choose where you want to save it (the USB drive). I usually just leave the "Create read-only disk image" and leave the rest blank, it will automatically create one that is the size it needs to be. Choose where to save it (the USB drive, the Intel Mac, really anywhere you have the space, you'll be deleting it when you're done).
4. Let it run.
5. Grab a firewire cable and connect your G5 to either your G3 or (preferably) your Intel Mac.
6. Turn on the Intel Mac (if it isn't already on)
7. Reboot or boot up the G5 and hold down "T". Your G5 hard drive should now show up as a Firewire drive on your Intel mac.
8. Open disk utility on the Intel mac, choose the Firewire RAID (your G5 HDD)*
9. Select the RAID (not either of the individual drives, it should be the one that is selectable and the name will be your G5 start-up disc's name) and at the bottom choose "delete"--WARNING--this will be a destructive move, you will (in theory) not be able to recover the data from your drive, so I suggest also backing up any files in addition to cloning the drive. Probably unnecessary, but I am in the "better safe than sorry" school.
10. Now you should no longer have the RAID in your list. You can reformat the drives if you want, but it's not really necessary (if you reset the partitions, make sure you click "options" under the Volume Scheme table and set it to "Apple Partition"). Select either drive and choose RAID in the top menu. Add both G5 drives into the RAID by dragging and dropping them into the main window's box. Make SURE you use the G5s drives, as the next step will blank any drives you choose (if you're worried about safety, don't plug in the USB drive with the disc image until you're done with this step; OSX won't let you use the Intel boot drive to do this). Leave OSX (journaled) and choose "Striped RAID set". You can click "options" and set the strip size if you wish. For general purposes, 32k or 64k will suffice, especially for a boot drive.
11. Click "Create". Now you should have a RAID named whatever you named it.
12. Now you have your RAID0. All you have to do now is mount the USB drive that has the disc image (if you unmounted it), open Carbon Copy Cloner, and choose your disc image ("restore from disc image" and then navigate to where you saved it) as the source disc and your new RAID set as the Target. Let it run and then reboot your G5 and it should be exactly the same as it was, only the harddrive will be faster and twice as large!
*--The only caveat is that the RAID part of the set-up is assumed on my part; I assume that the Intel Mac will see the RAID (which is a reasonable assumption), but I don't have the parts to test that currently.
ALSO NOTE: While faster, RAID0 is twice as unreliable as a single drive, in that if one drive fails, it's the same as having a single drive fail, i.e., you lose all your data. If you use Time Machine on a separate drive, you should be decently protected, but I usually make a monthly or so backup of my hard drives just in case (steps 1-4), as you can see from the rest how easy it is to just re-image a drive (or a pair if you replace the dead drive).
EDIT: Also, the G3 thing is probably more to do with the version of OSX on it than the hardware/GUID, but of the two I suggest you do all of this with the MBP anyway.