We use Skype all the time. It's call/audio quality is the best I've used... And in a pinch, the screen-sharing comes in handy too. Microsoft just bought 'em, though, so who knows what's in store for them now.
I like both... but my new favorite is Oovoo. I can talk to two people at the same time with no extra charges etc...
thanks, there are a lot of apps on this thing (Droid) but I do miss my messenger on my old blackberry!!