You've got to remember that Google Voice isn't a traditional SIP-based VOIP service, which makes it a little more complicated to set it up for outgoing calls using SIP systems. I've used SIP-based VOIP for my home phone system exclusively for 6 years. I've got a Google voice number in another state so family in that area can call me without incurring long distance charges. With my ATA, I have it set up with sipsorcery.com (dial plans for dialing out via Google Voice on an ATA registered with sipsorcery are fairly straight forward since sipsorcery uses the Ruby programming language). Unfortunately, sipsorcery isn't free any longer and isn't taking new subscribers at present. Another option would be to set up a free account with pbxes.com to receive incoming calls, but you'll have problems trying to set up a dial plan to dial out directly through pbxes so you might want to use Google Voice's web portal for dialing out. (When making an outgoing call, Google Voice's web-based portal will prompt you to indicate what registered number you want it to ring, it then calls that number and after you've answered, it connects you to the number you want to call.) If you had a Gizmo5 account, you could download their Android app to receive incoming calls and use Google Voice's web-based portal to make outgoing calls. However, Google bought Gizmo5 and it's not allowing new members to sign up until they relaunch (which may never happen).
There's an Android flavored GVdialer, but it's intended for use on cell phones and I'm not certain whether it will work on a WIFI device like the 101.
You do realize that a bunch of people's eyes just glazed over. I understand what you're talking about and how it automates more the dialing of a number but I wouldn't recommend this method for people to start out with. The link I provided is an absolute bare bones setup. No Google Voice app needed, no pbxes/sipsorcery, no ATA, no Google Voice supplement app. If all you want to do is make a phone call you only need a sip client, a sip provider that allows free incoming calls or extra cheap rates, have a google voice number, and have access to the internet.
I can't find 3cxphone on app market. Can you provide a link?
Unfortunately, I do not know how to link to a market app but here's their website:http://www.3cx.com/blog/3cxphone/android/
Did you search for just 3cx in the market? Showed right up for me on my A101.
You can also replace 3CXPhone with LinPhone, sipdroid, fring, and probably a bunch of other sip client apps.