If it's just the two of you, Skype is actually excellent for that. I use it to play a few different games with a friend of mine and it works perfectly with none of the headaches of finding a public Vent server that will inevitably have crappy sound.
If it's more than two, though, I haven't really found any public Vent-type servers that were reliable and had decent sound quality. I really haven't checked around in quite a while, though, so there's definitely a chance that there are some.