As I already suggested some alternative input-strategies a while ago (http://forums.scummvm.org/viewtopic.php?t=8386) and some other people mentioned similar ideas, I decided to dive into the scummvm sources myself and play around a bit. With some help from the great folks at the #scummvm IRC channel I managed to build the sources myself.
I whipped up a scummvm version with the control scheme I mentioned in the other thread:
* You move the cursor like you would by using a touchpad
* A left-click is being executed by tapping
* A right-click is being executed by bringing down your finger and holding it in position for 500ms
That's it, easy as pie

I tested it with the floppy version of "Beneath A Steel Sky" on an HTC Magic running Android 2.2 (Cyanogenmod 6). Please try my Mod and tell me what you think!
I've compiled the scummvm.apk and (most) engine plugins. You can find them in the download-section on the TouchMod google-code page:
http://code.google.com/p/scummvm-android-touchmod/
v0.04
* ADDED: UPPER_RIGHT corner region now brings up the soft-keyboard (hopefully)
v0.03
* ADDED: Corner regions. UPPER_LEFT=MENU; UPPER_RIGHT=i; LOWER_LEFT=left-click; LOWER_RIGHT=right-click
* FIXED: Built with MP3 (libmad) and OGG (libogg, libvorbis) enabled
v0.02
Fixed:
* Now a left click won't be executed by lifting the finger after a right-click
v0.01
Note:
There is a known issue with the svn version of scummvm: Please set the audio in "Options > Audio" to something different than "default" or "MT-32 Emulator".
Cheers,
das_weezul
P.S.: All the hard work setting up the toolchain and porting ScummVm to android has been done by Gus and other folks from ScummVM! Thanks for that!