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You cannot... sort of. Using the Google Maps application you can't. However, there's an awesome program called Maverick in the Market that will actually cache maps you view. Additionally, you can prepare maps on your PC using a program called TrekBuddy and then load them to your phone.
I frequently travel to areas with no cell service at all and this is the solution.
TrekBuddy has a map I think it's called Terraserver that is USGS topo maps. Any chance that will be added in the future?
Yes, we'll add custom maps in the future. Compas calibration is a good idea too.