> So, I want to do something simple. I want to embed one of my client's
> custom google maps into their website

is The Legend very different from A Sidebar?
http://econym.org.uk/gmap/basic2.htm

although I suspect from the second part of your question that what
you're asking is if you can write a javascript sidebar to control a
Google Maps map.

Logically, I would think not (they seem to be two separate things),
but someone else may have a better idea.

I think you're facing two choices:

1. replicate the map your client's made using the API (it's a simple
map, so wouldn't be that complicated, and if you want to be able to
store user input you can look here: 
http://code.google.com/apis/maps/articles/phpsqlinfo.html)

2. ask in the Google Maps forum (http://www.google.com/support/forum/p/
maps?hl=en) if there's a way to embed the sidebar from Google Maps as
well as the map

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