So, I've been trying this weekend to figure this out, and I thought I'd share it, in case anyone else needed it. What you need for the Android device, is iSyncr and iSyncr Wifi Add-On. For your Mac, you need iSyncr Desktop and iSyncr Wifi Server Add-On. The Market apps cost a few dollars, but they seem worth it to me. It is quite plug and play, really, there is a tutorial in the app, that tells you what to do.
The problem I'm having, is that most of my video podcasts showed up as "Unknown". To fix that, go to iTunes on your Mac, choose the heading of the podcast you want to change. ( Please click on the pictures if you want to see them larger.)
Go to the Info pane: