Currently in the stock Launcher there is no way to get rid of applications from the app drawer. Hopefully once the phone is rooted the Advanced Launcher from the G1 can be ported over which gives you this feature and a ton of other little nifty features missing from the launcher.
The home replacement app Launcher Pro can hide apps from the app drawer. It does not delete any preinstalled apps and I believe root access would be the only way for that.