Buckeye Fan:
Yes, you CAN roll the assets from a 401K into a rollover IRA with NO penalty or taxes due. The 401K custodian has to do the rollover, but the custodian of the IRA will help you accomplish that.
You can get a distribution of up to $10,000 for the first-time purchase of a home without paying the 10% Early Withdrawal Penalty. You WILL have to pay income taxes (both state and federal) on the $10K, however.
Check to see if you can BORROW the money from the 401K. That is a better option than making the withdrawal and paying the tax. You have to pay the loan back with interest, but you are paying YOURSELF rather than a bank.
If that is not an option, then do the rollover to the IRA, then take the distribution under the first-time homebuyer provision. Be SURE to get your tax return done professionally to make sure it is reported properly.