Well... Yes and no.
If you want to do a one time import:
1) go to your contacts folder
2) click export in the toolbar
3) choose csv and click export
4) click browse, and choose the location and filename, click next
5) choose the fields to export based on the fields you used in your contacts, you may wish to turn first and last name on if you entered them as such, google will sort it out on their end.
6) login to gmail
7) goto your contacts (by default on the top left, where "mail" and "tasks" are)
8) goto import contacts, should be the last option on the left right above the chat box.
9) browse to the file you saved in step 4, and import.
If you need syncing (changes are reflected both ways), then it gets tricky.
http://soocial.com will work, but you're limited to 250 contacts in free mode (I'm nowhere near that...).
http://sync.codeplex.com claims to work, and others have told me it does as well, but I can't make it actually sync for the life of me.
Sorry for the rushed, yet lengthy post, I'm on my way out the door atm. Cheers, hope something in there helps.