There is no voice dialing through BT yet, but that doesn't mean you have to fumble with the touchscreen. Voice Dialer HF can be launched with the touch of the camera button and will talk you through dialing:
"Say a command"
You say: "Call Bob Smith"
"Call Bob Smith at home?"
You say: "No"
"Call Bob Smith at mobile?"
You say: "Yes" and the call is placed.
It does this on the speakerphone then switches to BT for the actual call. While this solves the car problem, it does nothing for those who want to dial via a BT earpiece with the phone in their pocket.
Details at Voice Dialer HF (DFXmobile) (you must follow the steps there to enable the camera button for dialing)
(Full disclosure: I pushed to have this app developed when I couldn't dial hands-free with my new Droid.)