Personally, I use ADBWireless (alternate link) with my G1 on CM5 because I had problems with the USB driver working correctly between my computer and my G1. However, I had problems with this app in CM4 (to test against Android 1.6) on my G1. I was able to get it to work on CM4 with Remote ADB.
Note, however, that these connect to the device via ADB via wifi, not Bluetooth.
You'll pull up a command line on your computer and type
adb connect xxx.xxx.xxx.xxx:5555 (x's being your ip address of the phone over wifi). You'll have to run this in the platform-tools directory of your Android SDK, or you need to add your Android SDK platform-tools directory to your global PATH variable so you can run adb from anywhere.
Your phone will show up as its
ip_address:port_number in the list of devices to push your application to, just as if it was plugged in directly via usb.