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I feel somewhat obligated to post this after the agony that I have just gone through in the past two days :-) This is actually VERY simple, but there seems to be a lot of contradicting documentation on getting FreeNX working, and almost no documentation for CentOS 6.
Here's how I got FreeNX working on my new CentOS 6 server install and connected to it from my mac running OS X Lion. Connect to your server via SSH and do the following:
1. First you need X and Gnome

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[code]# yum groupinstall 'GNOME Desktop Environment' 'X Window System'[/code]
2. A 'yum grouplist' will reveal that there is a group called 'FreeNX and NX'.. Sweeet! much easier than trying to find the right packages manually. I believe this installs the el5 packages, but they work, so I'm not complaining.

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[code]# yum groupinstall 'FreeNX and NX'[/code]
3. At this point a lot of documentation tells you to fiddle with adding users and all kinds of shenanigans like that, but, I believe all you have to do is:
[code] # nxsetup --install --clean --purge --setup-nomachine-key[/code]
Your server should now be good to go.
Now, the NX Client 3.5 for Mac OS X on Nomachine's website says it works for PPC and Intel macs, but my macbook pro said it couldn't be run because PPC software is no longer supported. So, from the Nomachine download page, download NX 4 Preview 5 (the current beta release) and install it.

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Open it up and create a new connection. Enter your server's IP address and make sure 'Use SSH Service' and 'Use the NX Login' are selected. It will prompt you with an 'Authentication Required' screen. Choose 'login as named user' and enter your username and password for the server and press enter.
On the next screen hit 'Create a new session' and choose 'Create a new GNOME virtual desktop.'

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The desktop should come up after that :-) I hope this saves someone the few days that it took me to figure it out!
[EDIT by moderator] Please see [url=http://wiki.centos.org/HowTos/FreeNX]CentOS wiki article on FreeNX[/url] for the current instructions.