There is a new version of Google Maps for Mobile that contains the street view feature from the web version.
Apparently it works on Blackberries and mobile devices that that support Java. According to the articles I've read it currently does not work on the iPhone.
You can download the new version here:
Check out the article on CNET:
If your interested in more topics like this from Google, you can subscribe to the Google mobile blog: http://googlemobile.blogspot.com/