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I was experimenting with this last year and still have some commented out code in the app. Anyway, I think this will lead you in the right direction. It's 4AM and I don't have time to test this.

Looks like the status bar on top can use this.

Code:
[[UIApplication sharedApplication] setStatusBarStyle: UIStatusBarStyleBlackTranslucent];


For the navigation bar, one or both of these lines may be needed in your viewDidLoad method.

Code:
[[[self navigationController]  navigationBar] setBarStyle: UIBarStyleBlackTranslucent];
[[[self navigationController]  navigationBar] setTranslucent: YES];


For a UIToolBar it looks like this is what you want to look at.
Code:
[toolBar setBarStyle: UIBarStyleBlack];
[toolBar setTranslucent: YES];


iOS 5 has added the UIAppearance protocol which may be the new right way to affect those items. Looks like I played with that too. I have this line commented out in my AppDelegate.
Code:
[[UINavigationBar appearance] setBarStyle: UIBarStyleBlack]; //UIBarStyleBlackTranslucent];
 
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