I've been experimenting with MapServer with the help of LP Archaeology to see if it's a viable option to load layers onto a Google Maps interface.
Here's the first result:
http://www.online-archaeology.co.uk/GoogleMap/pages/wms_test.htm
Click on 'Military Roads' and that fires off a request to a Web Mapping Service hosted by LP Archaeology.
We're now testing Web Feature Service so we can load layers of clickable objects.