Although this only works with Selenium 1 (not webdriver), take a look at Flex Monkey:
http://www.gorillalogic.com/testing-tools/flexmonkium
Install the console and start the selenium server by downloading the user extensions provided in the zip file (also available on the download page).
If you open the page that you are testing, and then open the console, the console should indicate that it is connected - you will see the actions in the IDE selenium.
If not, you need to deploy the test application with the appropriate SWC projects for Flex Monkey to recognize objects on the page.
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