It's not free, but Dataviz' Roadsync for Android *will* sync Outlook tasks via an exchange server (2003 or 2007) to/from your Android phone. It will *also* sync email, contacts and calendar, but I am only using it for tasks on my HTC Incredible.
There is a 2 week free trial on the Android marketplace after which it's a $9.99 charge, but as tasks are the very last piece of the puzzle completing my migration from Palm OS 5.0 on a Treo 755p to my HTC Incredible, I will doubtless purchase it if, as has been so far, the synchronization continues to be so slick.
I wouldn't use it for contacts....apparently you'll end up with a 3rd set of contacts on the phone ("Roadsync contacts") and even if you have exchange contacts they may not sync back unless via Roadsync. Plus, without widgets, you're basically going "through" Roadsync to get to email, contacts and calendar, whereas the *only* way to get to tasks is via RoadSync.
Harold