You need a jailbroken iPhone for this and now I’ve found the second coolest reason to jailbreak your iPhone (second only to Qik). You can download and install this using Cydia.
I installed this about an hour ago and have been having a blast with it. You can just add it to your group in VNCScan or use the standard VNC viewer from UltraVNC, TightVNC, RealVNC, or Chicken of the VNC.
There are no two-finger motions integrated into this but the text input using your PC or MAC keyboard more than makes up for that!