Go to Settings --> Mail --> Add Account and set up an Exchange account (NOT the Gmail option). Then just use your full Gmail address and password, and m.google.com for the domain, and then it will let you choose to sync Contacts, Mail, and Calendars I believe.
I did this on my iPad and it worked just fine. I added an appointment using the stock Calendar app, then checked the calendar app on my Android phone and the event was added almost instantly.