I’ve asked mindsensors.com regarding NXT-G support of PF motors via their NR-Link. Indeed, the NR-Link can remotely (via Infra-Red) control PF motors. Here’s their reply:

NXT-G block for NR-Link, has groups of macros for RCX/Train/PF motors. From the ‘Action’ pulldown, select the device you are going to talk to, and from the ‘Macro’ pulldown choose appropriate macros.

The NXT-G blocks are located here.