The issue is that iCal supports CalDAV and EWS (Exchange Web Services) for syncing, Outlook supports EWS, and iOS devices use ActiveSync. Google does CalDAV and ActiveSync, making Outlook 2011 the one with the missing protocol (depending on who you talk to of course - the stated goal of the Outlook 2011 team was to make it a first class Exchange client, not a universal email/calendar/contact syncing thing).
Long story short, there is no easy solution using those pieces that I'm aware of.
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-Scott
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