As an extension to our implementation of CiviCRM to support my work as a state representative, we have created a voter canvassing module. It has been tested under Drupal 6.14 and Civicrm 3.01 and summarily retested under Drupal 6.15 and CiviCRM 3.03.
It is available for download at a page on my website that includes installation instructions. Please feel free to contact me at willbrownsberger at gmail.com if you would like access to my testbed to check out the application.