It's possible -- this cheap combo worked for me:
I have an Arduino Uno SMD interfaced with an old RC car's steering and motor control. I uploaded Firmata to to the Arduino and I bought the MdFly Bluetooth module w/ breakout board (has voltage regulation) to provide a wireless serial link. It works perfectly.
This image link will probably work for a while. You can see the RC car, an Arduino Uno (mounted vertically) with the MdFly bt module floating in a mess of wires: http://a1.sphotos.ak.fbcdn.net/hphotos-ak-snc7/314673_10150371643499195_766134194_8333766_1539137813_n.jpg
I've also attached the pic to this post.
I'm running Windows 7 and using an IOGear GBU421 BT dongle.
I did not require any special drivers to establish a connection. I did however have trouble at first because the MdFly BT module is set for a rate of 9600, where as the Firmata sketch and... pretty much everything else runs at 115200. The blue light on the bluetooth module would blink until I tried to send it some data from firmata_test.exe, at which point it would turn on solid but nothing would happen. I eventually used Rhyduino (a firmata library in C#) to establish a 9600 connection to the com port and BAM! it works... such a good feeling.
I still haven't figured out how to change the baud rate on the MdFly bluetooth module; AT commands don't seem to be doing anything -- but I'll figure it out... either way, the core requirement is satisfied. I now have a C# radio controlled car with a panning IR distance sensor 
Parts:
- Arduino Uno SMD: Arduino Uno Rev3 SMD — Arduino Official Store
- MdFly Bluetooth: http://www.mdfly.com/index.php?main_page=product_info&cPath=8_47&products_id=428
- IO Gear GBU421 IOGEAR - GBU421 - Bluetooth 2.1 USB Micro Adapter
