Like many people have already stated, there is no direct way to sync iCal and Contacts with your WP7 device. You will have to sync it with a cloud service (i.e., Google or Windows Live) and then sync that with iCal and Contacts. I do this with Google Sync and it works wonderfully both ways.
The Mac WP7 software you're going to want is Windows Phone Connector for Mac (
Windows Phone 7 & Mac | Mac Sync Software | Sync Files | Windows Phone 7). This doesn't do any data syncing, and is used more for media syncing and software updates.