android-vnc

http://code.google.com/p/android-vnc/

Quick Start

Download the kernel image and fbvncserver binary and invoke the following:

emulator -kernel zImage -noskin

Wait some time for the emulator to start and then install the binary:

adb push fbvncserver /data
adb shell /data/fbvncserver

Then redirect the port so the local machine can access the server:

telnet localhost 5554
redir add tcp:5900:5901

And finally:

xvncviewer -noauto localhost

Further tunneling is required to connect from a Smartphone over the Internet or LAN, but it is pretty trivial. The redirection added through Android's telnet interface only listens on the local interface.