Later versions of MacOS X support 6to4. Problem is, before Panther there wasn't a GUI interface to it. Even in Panther, the GUI for 6to4 is sort of difficult to find. Since as co-author of the spec I naturally think 6to4 should be widely used, I thought I'd take the time to describe how to do this.
Panther (and presumably later).
This is actually fairly convenient as you can selectively enable 6to4 on a per-location basis - so I have it enabled for locations where there isn't already IPv6 access and I have it turned off for locations where IPv6 access exists, or where there's a NAT that prevents 6to4 from working.
Jaguar (perhaps earlier?)
That should be all that's needed. In rare cases you might need to edit /etc/6to4.conf as root, but the default values will often be sufficient. Type man ip6config in a terminal window for more information about how to use ip6config.
The downside is that you have to do this every time you want to use 6to4 after reboot - I don't know of any way to make it happen automagically when the network is configured or when you select a location. Also, I don't know what happens if you change locations while this is running. My guess is that you need to do sudo ipconfig stop-stf, change the location, and then do sudo ipconfig start-stf again.