Google announced today that it has begun rolling out Android OS version 2.3.4 to Nexus S smartphone users today, and will continue to do so over the next few weeks. Alongside the regular bug fixes and improvements made in an Android OS update, Google has added support for video and voice chat in Google Talk in this update.

You can now video or voice chat with your friends, family and colleagues right from your Android phone, whether they’re on their compatible Android tablet or phone, or using Gmail with Google Talk on their computer. You can make calls over a 3G or 4G data network (if your carrier supports it) or over Wi-Fi.

In your Google Talk friends list, a video or voice chat button will appear next to your contacts and you can simply touch the button to connect with them. Any text chats from the person you’re talking with will be overlaid on your phone’s screen so you can read them without having to leave the video. And, if you need to check something else, the video pauses automatically so you can go back to your phone’s home screen or another app. The audio will keep going even though the video has paused.

Other users currently running on Android OS 2.3+ should receive this update in the near future as well.