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I believe there is an app called ICON CHANGER that can do it without using a new launcher.
It is on my "to do list" to play around with it but I haven't done so yet. It comes with its own sets of icons plus says it can pull from other ADW or GoLauncher icon packs too.
Anyone use it and have good experience?
Yup works like a charm. It has a large number of its own icon plus like you said it can pull out icons from adw and go launcher and any theme you download for these launchers. I download a jelly bean theme for go launcher and currently have most of jelly bean icons on my home screen. You can even put your own pictures from your gallery as icons.. Doesn't even replace the actual icon just creates an extra shortcut on home screen so you can delete it anytime in a second. You should really try it out.
does it slow down the phone at all? (not that I'm really worried given the power under the hood of the GS3)